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CN1692401B - Multi-axis input converter unit and joystick - Google Patents

Multi-axis input converter unit and joystick Download PDF

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Publication number
CN1692401B
CN1692401B CN038134829A CN03813482A CN1692401B CN 1692401 B CN1692401 B CN 1692401B CN 038134829 A CN038134829 A CN 038134829A CN 03813482 A CN03813482 A CN 03813482A CN 1692401 B CN1692401 B CN 1692401B
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axis
present
axis input
control handle
assembly
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CN1692401A (en
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雷斯里·R·奥柏梅尔
佛利兹·H·奥柏梅尔
亨利·K·奥柏梅尔
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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/28—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with deflection of beams of light, e.g. for direct optical indication
    • G01D5/285—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with deflection of beams of light, e.g. for direct optical indication using a movable mirror
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
    • A63F2300/1043—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals being characterized by constructional details
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
    • A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
    • A63F2300/105—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals using inertial sensors, e.g. accelerometers, gyroscopes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35419—Four and more-DOF hand controller, joystick, manipulandum
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04759—Light-sensitive detector, e.g. photoelectric

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Computer Hardware Design (AREA)
  • Position Input By Displaying (AREA)

Abstract

The present invention relates to an improved multi-axis joystick and related multi-axis optical displacement measurement device. The displacement measuring device may comprise one or more light emitters and one or more light detectors, preferably mounted on a planar hexagonal array. The relative position of adjacent moveable reflector assemblies can be measured in six degrees of freedom by varying the detected light amplitude. Various embodiments are disclosed that facilitate ergonomic construction with a six-axis joystick by way of a lightweight design of the transducer device. The invention also discloses a device for controlling the building machinery equipment by adjusting the coordinate transformation in a dynamic mode.

Description

多轴输入转换器装置和摇杆Multi-axis input converter unit and joystick

本发明系一国际申请案，及主张2002年4月12日申请之美国临时专利申请案第60/372,216号的权益，在此并予参照。This application is an international application and claims the benefit of U.S. Provisional Patent Application No. 60/372,216, filed April 12, 2002, which is incorporated herein by reference.

(一)发明所属之技术领域(1) The technical field to which the invention belongs

本发明系有关一种多轴输入装置，诸如用于但不受限于计算机控制、计算机辅助设计领域中计算机绘图应用控制及计算机游戏之类的摇杆，以及用于控制诸如建筑设备、机械操纵器及车辆之类机器的摇杆。在此揭示的多轴光学位置转换器可用于很多其它应用上，特别是可将之用于小尺寸及低成本很重要的应用上。The present invention relates to a multi-axis input device such as a joystick for, but not limited to, computer control, control of computer graphics applications in the field of computer-aided design, and computer games, and for controlling applications such as construction equipment, mechanical manipulation joysticks for machinery such as switches and vehicles. The multi-axis optical position transducer disclosed herein can be used in many other applications, particularly where small size and low cost are important.

(二)背景技术(2) Background technology

过去已尝试开发出商业上可行的六轴摇杆。习知设计的复杂度可能造成只有计算机辅助设计及其它高价位工业及商业应用才负担得起的昂贵产品。型号为之类于1990年代后期由Spacetec IMC公司制造且当作计算机游戏周边装置销售多年的产品，也许是起因于其复杂度以及相对于大概50到100美元之零售价格的制造成本而终告无法持续贩卖。有关Spacetec

Figure GSB00000038557800012
的专利文件有：指定代表为Spacetec IMC公司而授予Hilton的美国专利第5,591,924号文件以及授予Hilton等人的美国专利第5,706,027号及第5,798,748号文件。另外指定代表为Spatial Systems Pty有限公司也是授予Hilton的美国专利第4,811,608号文件。新进由Logitech(可能收购了Spacetec IMC公司)提供的六轴摇杆包含太空球
Figure GSB00000038557800013
及太空鼠标
Figure GSB00000038557800014
其于2002年1月的零售价格大概每一个500美元。Attempts have been made in the past to develop a commercially viable six-axis joystick. The complexity of conventional designs can result in expensive products that are only affordable for computer-aided design and other high-priced industrial and commercial applications. Model is Products such as Spacetec IMC, which were manufactured by Spacetec IMC in the late 1990s and sold for many years as computer game peripherals, were ultimately unsustainable, perhaps due to their complexity and manufacturing cost relative to a retail price of about $50-$100 . About Spacetec
Figure GSB00000038557800012
The patent documents are: US Patent No. 5,591,924 issued to Hilton on behalf of Spacetec IMC Corporation, and US Patent Nos. 5,706,027 and 5,798,748 issued to Hilton et al. In addition, the designated representative is Spatial Systems Pty Ltd., which is also US Patent No. 4,811,608 issued to Hilton. New six-axis joystick from Logitech (possibly acquired by Spacetec IMC) including space balls
Figure GSB00000038557800013
and space mouse
Figure GSB00000038557800014
Its retail price in January 2002 was approximately $500 each.

其它尝试系于一六轴摇杆内使用光学位置转换器。例如，Salcudean等人提供的美国专利申请案第20010038380号文件中揭示了一种将光源及感知器装设于摇杆之静态及可动组件上的应用。这种解决方案可能伴随着不必要的复杂结构且可能起因于对需要弹性连接结构之可动电子组件的需求造成装置可靠更低且韧度更差。Other attempts have used optical position transducers within a six-axis joystick. For example, US Patent Application No. 20010038380 provided by Salcudean et al. discloses an application of installing a light source and a sensor on static and movable components of a joystick. Such solutions may be accompanied by unnecessarily complex structures and may result in less reliable and less robust devices due to the need for movable electronic components requiring elastic connection structures.

可应用很多其它方法以达成六轴或多轴控制。例如，已围绕习知金属箔应变计量技术同时使用电线应变计量器建立了多轴输入装置。这类装置基本上可以是强制输入装置且可能无法为操作员提供任何有用的偏转反馈作用。来自这类装置的基础信号也许需要小心遮蔽且随后进行放大以补偿各应变计量器的固有低计量系数。Many other methods can be applied to achieve six-axis or multi-axis control. For example, multi-axis input devices have been built around conventional metal foil strain gauge technology while using wire strain gauges. Such devices may essentially be force input devices and may not provide any useful deflection feedback to the operator. The underlying signal from such devices may need to be carefully masked and then amplified to compensate for the inherently low gage coefficient of each strain gauge.

授予Jenkins的美国专利第4,76,524号文件以及授予Selker的美国专利第5,767,840号文件中揭示了使用应变计量器的习知实例。这类应变计量器的应用可能因温度引致的误差及低计量系数，两者都会添加信号处理及信号遮蔽上的困难。此外，可允许的应变几乎是操作员所无法察觉的，且可造成缺乏对操作员的有用而必要的偏转反馈作用。此外，低应变值可排除使用机械式光栏以防止应变计量器的过载现象。可订定该应变计量器的尺寸以包含相对于各负载的安全系数，以进一步减小他们已经很差的计量系数。即使有了安全系数，使用应变计量器的装置或许不适合诸如计算机游戏之类经常被小孩掉到地板上的应用。Known examples of the use of strain gauges are disclosed in US Patent Nos. 4,76,524 to Jenkins and 5,767,840 to Selker. The application of such strain gages may suffer from temperature-induced errors and low gage coefficients, both of which add difficulties in signal processing and signal masking. Furthermore, the allowable strain is almost imperceptible to the operator and can result in a lack of useful and necessary deflection feedback to the operator. Furthermore, low strain values preclude the use of mechanical shutters to prevent overloading of the strain gauge. The strain gages can be dimensioned to include a factor of safety with respect to each load to further reduce their already poor gauge factor. Even with a margin of safety, devices using strain gauges may not be suitable for applications such as computer games where children are often dropped on the floor.

其它的习知六轴摇杆应用了复数个线性可变差分型变压器(LVDT)、可变电感器或是其它线性分离式机械位移转换器。某些这类六轴输入装置系以史特瓦特(Stewart)平台结构内具弹簧中心的LVDT为基础。较之根据本发明所建造之具有经济且强固之结构的六轴输入装置，这类装置可能既昂贵又易碎。习知设计中的多重机械式接头可能造成精确度与成本之间的交换。Other conventional six-axis joysticks employ a plurality of linear variable differential transformers (LVDTs), variable inductors, or other linear discrete mechanical displacement transducers. Some of these six-axis input devices are based on an LVDT with a spring center within a Stewart platform structure. Such devices can be expensive and fragile compared to the economical and robust construction of a six-axis input device constructed according to the present invention. Multiple mechanical joints in conventional designs may result in a trade-off between accuracy and cost.

授予Sundin的美国专利第6,329,812B1号文件中揭示了一种由史特瓦特(Stewart)平台变型构成之简化装置的实例，其中强调了成本的重要考虑。不过，因为必需遮蔽无线电频率的干涉现象以及因为各接合用感应弹簧之间的干涉现象，故无法避免其整体复杂度。假如用在相关的建造设备或移动中的车辆上，则该Sundin设计的另一缺点可能是多重弹簧可以在总成内造成无法接受的共振振动。这种振动可包含其弹簧上活性把柄的共振或者可能在其弹簧本身内涉及了横向或更高模式的振动。An example of a simplified device constructed from a variant of the Stewart platform is disclosed in US Patent No. 6,329,812B1 to Sundin, which emphasizes the important consideration of cost. However, its overall complexity cannot be avoided due to the need to shield radio frequency interference phenomena and because of the interference phenomena between the individual coupling induction springs. Another disadvantage of the Sundin design, if used on associated construction equipment or a moving vehicle, may be that multiple springs can cause unacceptable resonant vibrations within the assembly. This vibration may involve the resonance of the active handle on its spring or may involve transverse or higher mode vibrations within the spring itself.

又一种已知六轴摇杆可包括复数个磁性感知线圈及多重可动磁铁。揭示磁性位置侦测装置的专利实例包含由Endo提出的美国专利申请案第20010055002号文件以及授予Hoyt等人的美国专利第5,687,080号文件。这类设计经常是比本发明的设计更为复杂及昂贵且无法由环境磁场通量提供任何固有遮蔽。Yet another known six-axis joystick may include a plurality of magnetic sensing coils and multiple movable magnets. Examples of patents disclosing magnetic position detection devices include US Patent Application No. 20010055002 by Endo and US Patent No. 5,687,080 to Hoyt et al. Such designs are often more complex and expensive than the present invention and do not provide any inherent shielding from ambient magnetic flux.

再一种方法系使两个三轴控制器耦合于所得到的六轴控制器上如同授予Couch等人的美国专利第5,749,577及6,033,309号文件中所揭示的。这种方法可能比本发明的方法更昂贵且可能缺乏直觉式六轴接口。Yet another approach is to couple two three-axis controllers to the resulting six-axis controller as disclosed in US Patent Nos. 5,749,577 and 6,033,309 to Couch et al. This approach may be more expensive than the method of the present invention and may lack an intuitive six-axis interface.

很多根据习知设计加以建造的大尺寸装置可在旋转水平轴与平移水平轴之间造成非刻意而不必要的耦合作用。这种耦合作用可能必需藉由以装置在精确度及动态范围上之对应耗损的信号处理进行后续对角化作业。习知设计中可能因为费用及技术上伴随着必要之微型化所产生的障碍而很难避免这种不必要的耦合作用。Many oversized devices built to conventional designs can cause unintentional and unnecessary coupling between the rotational and translational horizontal axes. This coupling may necessitate subsequent diagonalization by signal processing with corresponding losses in accuracy and dynamic range. Such unwanted coupling can be difficult to avoid in conventional designs because of the cost and technical barriers that accompany the necessary miniaturization.

一般而言在诸如结合于键盘或手持式计算机以便进行定位当作其它控制把手或控制杆的延伸或者在靠近使用者手的中心点处围绕于如同授予Salinas之美国专利第Des 381,701号文件中所揭示习知摇杆内之类的应用上，习知设计中由六轴摇杆构成的转换器系统显得实体上太大又太重。Generally such as in conjunction with a keyboard or handheld computer for positioning as an extension of other control handles or levers or around a central point near the user's hand as in U.S. Patent No. 381,701 to Salinas For applications such as revealing conventional joysticks, the converter system consisting of six-axis joysticks in conventional designs appears physically too large and heavy.

已认定在操作航空器时需于使用轨迹球期间保持手的稳定。达梭航空(DassaultAviation)采用了一种包含手掌靠座的习知二轴轨迹球以便在扰动的飞行条件下有利于施行可靠的(二轴)驾驶舱显示器光标控制[参见职业机师杂志/2002年1月(PROFESSIONALPILOT)]。习知设计的六轴装置可能太笨重以致无法结合于这种手掌靠座内。事实上，有很多种习知六轴装置可能笨重到不再像是杆状且因此甚至不再称作「摇杆」。It has been determined that a steady hand is required during use of the trackball while operating an aircraft. Dassault Aviation employs a conventional two-axis trackball incorporating a palm rest to facilitate reliable (two-axis) cockpit display cursor control under disturbed flight conditions [see Professional Pilots Magazine/2002 January (PROFESSIONALPILOT)]. Six-axis devices of conventional designs may be too bulky to be incorporated into such palm rests. In fact, there are many known hexaaxis devices that are probably so bulky that they no longer look like sticks and thus are not even called "joysticks".

已知各种多轴输入装置或「摇杆」可应用某种具有诸如霍尔效应感知作用(Hall Effectsensing)之类形式的磁场量测。用以揭示霍尔效应感知作用的多轴输入装置或「摇杆」相关专利实例包含授予Hoyt等人的美国专利第5,959,863号文件以及授予Hoyt等人的美国专利第5,687,080号文件。由Endo提出的美国专利申请案第20010055002号文件中也揭示了一种应用霍尔效应感知作用的多轴计算机输入装置。Various multi-axis input devices or "joysticks" are known that employ some form of magnetic field measurement such as Hall Effect sensing. Examples of patents related to multi-axis input devices or "joysticks" that demonstrate Hall Effect sensing include US Patent No. 5,959,863 to Hoyt et al. and US Patent No. 5,687,080 to Hoyt et al. US Patent Application No. 20010055002 filed by Endo also discloses a multi-axis computer input device using Hall effect sensing.

Shumin Zhai博士已在六轴使用者接口的课题上发表了数篇论文，其中包含标题为「依六个自由度进行输入控制之人力表现」、「交互式三维绘图法」及「与三维输入装置设计有关之使用者表现」的论文。Dr. Shumin Zhai has published several papers on the subject of six-axis user interfaces, including titles "Human Performance with Input Control in Six Degrees of Freedom", "Interactive 3D Mapping" and "Interaction with 3D Input Devices Design-Related User Performance".

本发明的目的是为新进的多轴计算机输入装置提供一种低成本的强固替代装置。特别是本发明的目的是提供一种成本低得足以吸引结合计算机游戏之类的应用同时足够简单而强固以便用于但是并不受限于工业应用的装置。新近可取得的装置对计算机游戏产业而言具有禁制性的高价位且对典型建筑设备上的应用而言又太脆弱。反之，本发明的装置只需要两个移动零件，例如简单的线圈型弹簧以及具有内部反射性表面的简单塑料按钮。本发明之塑料按钮的制造成本大约与一普通闪光灯之反射器的制造成本相同。本发明的整体制造成本明显地低于任何其它习知六轴摇杆的制造成本且事实上可能低于标准二轴摇杆的制造成本。It is an object of the present invention to provide a low cost robust alternative to the new multi-axis computer input devices. In particular it is an object of the present invention to provide a device which is sufficiently low in cost to be attractively combined with applications such as computer games, yet simple and robust enough for use in, but not limited to, industrial applications. The newly available devices have prohibitively high price points for the computer game industry and are too fragile for application on typical construction equipment. In contrast, the device of the present invention requires only two moving parts, such as a simple coil-type spring and a simple plastic button with an internal reflective surface. The manufacturing cost of the plastic button of the present invention is about the same as the manufacturing cost of a conventional flashlight reflector. The overall manufacturing cost of the present invention is significantly lower than that of any other known six-axis rocker and in fact may be lower than that of a standard two-axis rocker.

本发明的另一目的是提供一种简单而易于制造且组成组件尽可能愈少愈好的六轴计算机输入装置。较佳的设计可将所有(例如7个)转换器结合到单一的印刷电路板或是单件式光电套装组合之上。Another object of the present invention is to provide a six-axis computer input device which is simple and easy to manufacture and has as few components as possible. A better design would combine all (eg, 7) converters on a single printed circuit board or a one-piece optoelectronic package.

本发明的又一目的是提供一种具高质量及高精确度的信号，其方式是藉由最佳化方式相对于控制把手及使用者的手为高分辨率转换组件定位以产生经良好调节的转换程序。Yet another object of the present invention is to provide a signal of high quality and precision by positioning the high-resolution conversion element relative to the control handle and the user's hand in an optimal manner to produce a well-regulated conversion program.

本发明的再一目的是提供一种耐用而强固的多轴计算机输入装置以适用于诸如加工控制及建筑设备之类的应用。It is a further object of the present invention to provide a durable and robust multi-axis computer input device suitable for applications such as process control and construction equipment.

本发明的又另一目的是提供一种多轴控制装置以允许在技术不足且商业上不具吸引力的工业及建筑设备之类一般应用上作更大幅度的控制。It is yet another object of the present invention to provide a multi-axis control device that allows greater control over common applications such as industrial and construction equipment that are technologically underdeveloped and commercially unattractive.

本发明的再另一目的是提供一种尺寸足够小而能够依中央对准方式定位于游戏摇杆内的转换组件，使之与手腕旋转上平行于尺骨及桡骨的轴对齐如同习知设计的情况一般。It is yet another object of the present invention to provide a conversion assembly small enough to be centrally aligned within a joystick so that it aligns with an axis of wrist rotation parallel to the ulna and radius as in conventional designs. The situation is average.

本发明的又再一目的是提供一种尺寸足够小的转换组件，以容许在主动式控制把手上很容易地进行指尖操纵，而在使用者的手内留下空间以便容纳稳定使用者之手及臂时所需要的固定式控制把手组件或手掌靠座，以致能够在陆上、水中、空中或太空中的移动交通工具内安全地使用该多轴摇杆功能。Yet another object of the present invention is to provide a transition assembly of sufficiently small size to allow easy fingertip manipulation on an active control grip while leaving room in the user's hand to accommodate a stable user. Fixed control handle assemblies or palm rests are required for hands and arms to enable safe use of the multi-axis joystick functionality in mobile vehicles on land, water, air or space.

(三)发明内容(3) Contents of the invention

本发明的设计满足前述目的之各种实施例可总述如下：The design of the present invention satisfies the various embodiments of the aforementioned object can be summarized as follows:

在一实施例，本发明的装置可包括一可动的″主动式控制把手″结合有固定其上且例如依弹性方式装设于线圈型弹簧上之六个左右的面镜刻面。可在与该面镜刻面总成相对的很短距离上依方固定式装设一包括有一个或更多个光电发射器以及一个或更多个光电侦测器的光电转换器数组。作为面镜刻面用以连接各光电发射器与光电侦测器之六个独特光径的长度可依该主动式控制把手的六个自由度以及其相对于该光电转换器数组的各面镜刻面定义出各坐标。一般而言由一光电侦测器在每一光径端点上量测到的亮度可以是一种与该光径长度的平方反比函数。任何平移或是绕该主动式控制把手上任意轴的旋转运动都可能造成其图案的亮度出现改变。例如可将该亮度图案转换为电子形式以便用于数字计算机中，或者可沿着光纤电缆传送当作模拟亮度信号。In one embodiment, the device of the present invention may comprise a movable "active control handle" in combination with six or so mirror facets fixed thereto, for example resiliently mounted on coil springs. A photoelectric converter array including one or more phototransmitters and one or more photodetectors can be fixedly mounted in a short distance opposite the mirror facet assembly. The lengths of the six unique optical paths used as mirror facets to connect the photoelectric emitters and photodetectors can be controlled by the six degrees of freedom of the active control handle and the mirrors relative to the photoelectric converter array The facets define the coordinates. In general, the luminance measured by a photodetector at each optical path endpoint can be an inverse square function of the optical path length. Any translational or rotational movement about any axis on the active control handle may cause the brightness of its pattern to change. For example, the brightness pattern can be converted into electronic form for use in a digital computer, or can be transmitted along a fiber optic cable as an analog brightness signal.

一般而言，仅试图将以下有关各光电发射器及光电侦测器之位置的说明当作实例而不是用以限制本发明的揭示内容及对本发明所附申请专利范围中任意项目的解读。特别是，几乎在所有例子里各光电发射器及光电侦测器的相对位置都是可交换的。在某些例子里，能以单独的分离式装置同时扮演着发射器及侦测器的角色。电路上的简单变化可有利于各发射器及侦测器的位置交换。例如，在有六个发射器围绕一个侦测器的例子里，可一次加能一个发射器以致可由该侦测器依与一独特光径及其对应发射器相关的方式产生信号。可有利地使用这种配置以减少可程序规划之接口控制器或是其它信号转换装置上所需要之模拟数字转换通路的数目。可利用标准组件及已知的电子工程原理完成这种配置。In general, the following descriptions about the positions of photoemitters and photodetectors are merely intended to be examples rather than limiting the disclosure of the present invention and the interpretation of any items in the appended claims of the present invention. In particular, the relative positions of the photoemitters and photodetectors are interchangeable in almost all cases. In some instances, a single, discrete device can act as both an emitter and a detector. Simple changes in circuitry can facilitate swapping of the positions of the various emitters and detectors. For example, in the case of six emitters surrounding a detector, the emitters can be powered one at a time so that signals can be generated by the detector in a manner associated with a unique optical path and its corresponding emitter. This configuration can be advantageously used to reduce the number of analog-to-digital conversion paths required on a programmable interface controller or other signal conversion device. This configuration can be accomplished using standard components and known electrical engineering principles.

系依广义方式解读「光电发射器」及「光电侦测器」等名词以涵盖任何用以引导或转换光的装置或组件或是用以输送光的界面，无论光是否源自或终止于本发明所构思的装置内。例如，可从一个能将光反射到复数个可动面镜上的点以阳光照射标靶，各可动面镜可将光进一步反射到受光器上，各受光器则藉由光纤电缆引导光而进一步将光传送到超出某些实体边界的远隔地点上。光电发射器的实例可包含但是并不受限于具有包含可见光及红外线之任意波长的发光二极管、雷射二极管、气体放电管、白炽灯泡及其它此时已知或未知的等效组件。侦测器的实例包含光电二极管、光电晶体管、硫酸钙光电电阻、光生伏打电池、光电管及其它此时已知或未知的等效组件。可依传统概念运用本发明中用到的下列名词或是赋予额外标示如下的意义。「Stewart平台」可包含一「六角舱盖」或是像飞航仿真器中常用的八边平行联结型式运动平台。The terms "photoelectric emitter" and "photodetector" are to be read broadly to cover any device or component for directing or converting light or interface for transporting light, whether or not the light originates or terminates in this within the device contemplated by the invention. For example, a target may be illuminated by sunlight from a point that reflects light onto a plurality of movable mirrors, each of which further reflects the light onto a light receiver, each of which guides the light via a fiber optic cable And further to transmit light to remote locations beyond the boundaries of some entities. Examples of phototransmitters may include, but are not limited to, light emitting diodes of any wavelength including visible and infrared, laser diodes, gas discharge tubes, incandescent light bulbs, and other equivalent components known or unknown at this time. Examples of detectors include photodiodes, phototransistors, calcium sulfate photoresistors, photovoltaic cells, phototubes, and other equivalent components known or unknown at this time. The following nouns used in the present invention can be used according to traditional concepts or given the following additional meanings. The "Stewart platform" may consist of a "hexagonal hatch" or an eight-sided parallel joint type motion platform as commonly used in flight simulators.

「从属平台」一词包含一种其位置受复数个遥控发动机控制的平台或是其在操纵计算机模型例子里的虚拟等效装置。The term "slave platform" includes a platform whose position is controlled by a plurality of remote-controlled motors or their virtual equivalents in the case of manipulating computer models.

「感知器总成」一词包含一种由一个或更多个分离式感知器或是单一多轴感知组件构成的总成。The term "sensor assembly" includes an assembly consisting of one or more discrete sensors or a single multi-axis sensor assembly.

「感知器基座」一词包含一种有感知器总成连接其上的非常稳定物体。The term "perceptron base" includes a very stable object to which a perceptron assembly is attached.

「感知器平台」一词包含装置上可藉由包含该「主动式控制把手」之操纵器移动的部分。The term "sensor platform" includes the portion of the device that is movable by a manipulator including the "active grip".

「主动式控制把手」一词包含装置上可藉由操纵器移动其位置且其运动可造成输出信号出现改变的可动部分。The term "active control handle" includes a movable part of a device whose position can be moved by a manipulator and whose movement causes a change in the output signal.

「恢复组件」一词包含一种可在移除偏转力之后作出贡献使运动平台恢复其最小能量位置的诸如弹簧或弹性体结构之类装置。The term "restoration component" includes a device such as a spring or elastomeric structure that contributes to returning the motion platform to its position of minimum energy after deflection force is removed.

「恢复系统」一词包含一种由一个或更多个可在移除偏转力之后作出贡献使运动平台恢复其最小能量位置之「恢复组件」构成的系统。The term "restoration system" includes a system consisting of one or more "restoration components" that contribute to returning the motion platform to its minimum energy position after deflection forces have been removed.

「具结构的光」一词包含一种依固定且较佳的是高反差的图案投射的光，这种光可用来量测从落在空间内除此之外无器件表面上另一有利的点拍到的影像。The term "structured light" includes light projected in a fixed and preferably high-contrast pattern that can be used to measure the Click on the captured image.

「MEMS」一词指的是一类依用于电子式集成电路芯片的类似方式制造并封装的微型机械装置。The term "MEMS" refers to a class of micromechanical devices manufactured and packaged in a manner similar to that used for electronic integrated circuit chips.

「CCD数组」一词指的是一种以通常用于摄影机及电子式静态照相机之电荷耦合装置为基础光学影像感知装置。The term "CCD array" refers to an optical image sensing device based on a charge-coupled device commonly used in video cameras and electronic still cameras.

「侧视器」一词如同在光电发射器及光电侦测器上的应用指的是一种可安装于电路板套装组合内的装置，此装置的定向方式是使之可造成一般而言平行于电路板之光发生放射或是对这种光呈现出光敏性。The term "side viewer" as applied to photoelectric emitters and photodetectors refers to a device that can be mounted in a circuit board package orientated in such a way that it results in a generally parallel Emitting light from the circuit board or showing photosensitivity to this light.

「摇杆」一词可广义地包含可实体地抓住、结合或实体地移动的任何把手、按钮或其它装置，其方式是使之产生电子、光学、电磁或是其它代表该装置之运动或是其上所加力量的信号。The term "joystick" is used broadly to include any handle, button, or other device that can be physically grasped, engaged, or physically moved by causing electronic, optical, electromagnetic, or other motion or motion representative of the device. is a signal of the force applied to it.

「空间性可变反射率」一词包含诸如反射性表面的界限边缘、表面的可变镜面反射性、表面的可变反射性、表面的可变颜色、透明器件、不透明器件、灰阶器件、条形码器件、印刷器件、棱镜型组件及折射组件之类。The term "spatially variable reflectivity" includes terms such as bounding edges of reflective surfaces, variable specular reflectivity of surfaces, variable reflectivity of surfaces, variable color of surfaces, transparent devices, opaque devices, grayscale devices, Bar code devices, printing devices, prism components and refraction components, etc.

根据本发明的一概念，该主动式控制把手可结合有一种由诸如面镜或棱镜之类光学组件构成的系统以控制一个或更多个光源与一个或更多个光侦测器之间的光径。According to one concept of the present invention, the active control handle may incorporate a system of optical components such as mirrors or prisms to control the communication between one or more light sources and one or more light detectors. light path.

根据本发明的进一步概念，可结合多重切换式光源使用单一光电侦测器以减少单一通路上的模拟对数字转换需求。According to a further aspect of the invention, a single photodetector can be used in combination with multiple switched light sources to reduce the need for analog-to-digital conversion on a single path.

根据本发明的进一步概念，在结合有多重切换式光源下使多个光电侦测器并联于较少数目(例如一个)的模拟输入通路上因此减少了所需要的模拟对数字转换通路。According to a further aspect of the present invention, combining multiple photodetectors in parallel with fewer (eg, one) analog input paths in combination with multiple switched light sources thus reduces the required analog-to-digital conversion paths.

根据本发明的另一概念，一种依类似于七段式LED套装组合之方式建造的单件式光电转换器套装组合可扮演着光电发射器及光电侦测器之一或是同时扮演这两者的角色。According to another concept of the present invention, a one-piece photoelectric converter package constructed in a manner similar to a seven-segment LED package can act as either or both a photoemitter and a photodetector. the role of the author.

根据本发明的进一步目的，可将六个红外线发光二极管及一个或更多个光电二极管装设到印刷电路板上随后再于其上模造透明的波导且可于其上模造不透明材料，如是产生了轻巧而强固的光电套装组合。According to a further object of the present invention, six infrared light emitting diodes and one or more photodiodes can be mounted on a printed circuit board and then a transparent waveguide can be molded thereon and an opaque material can be molded thereon, thus producing Lightweight and strong combination of photoelectric suits.

根据本发明的进一步目的，可依共面方式将各红外线发光二极管及光电二极管装设到印刷电路板上，且各波导可结合有可沿着一般而言从转换器对称轴辐射出之方向投射光的内部反射表面。According to a further object of the present invention, the infrared light-emitting diodes and photodiodes can be mounted on a printed circuit board in a coplanar manner, and the waveguides can be combined with light emitting diodes which project in a direction generally radiating from the axis of symmetry of the converter. The internal reflective surface of light.

根据本发明的进一步概念，可连同各光学转换器将一诸如模拟装置的PIC之类信号处理芯片埋藏到转换器套装组合之内。藉由这种方式，可依符合人类环境改造学的方式采用且轻巧的装置之内完成任何具必要序列的这种已施行资料之比例缩放及正规化的光电发射器以输出信号的有效数字传输。According to a further aspect of the invention, a signal processing chip, such as a PIC of an analog device, may be embedded within the converter package together with each optical converter. In this way, any necessary sequence of such data-scaled and normalized phototransmitters for efficient digital transmission of output signals can be carried out within an ergonomically adaptable and compact device. .

根据本发明的进一步概念，可使用诸如CCD数组之类的影像感知器，以量测受可动控制把手之多轴位置控制之影像的位置。According to a further aspect of the invention, an image sensor, such as a CCD array, may be used to measure the position of the image controlled by the multi-axis position of the movable control handle.

根据本发明的进一步概念，可使用诸如用以预览穿过大门的访客之类型式的超广角透镜，将一可动控制把手内部表面上的位敏影像投射到诸如习知CCD数组之类的影像转换器上。According to a further aspect of the invention, a position-sensitive image on the interior surface of a movable control handle can be projected onto an image such as a conventional CCD array using an ultra-wide-angle lens of the type such as used to preview visitors passing through a gate on the converter.

根据本发明的进一步概念，该可动控制把手内部的特色为具有由一般呈三叶形式之反射区及非反射区构成的图案。According to a further aspect of the invention, the interior of the movable control handle features a pattern of reflective and non-reflective regions generally in the form of three lobes.

根据本发明的进一步概念，可使用连接在摇杆之第一可动部分例如其基座上的CCD数组，以量测该摇杆之第二可动部分例如其控制把手内部上三个点的球面角。例如可藉由此中揭示的通用方法非常容易地为由各具有三个可相对移动点的两个球面角构成的六个数据信号进行处理。根据本发明的进步一概念，可使用藉由固定在依与透镜装置共轴之方式定位之第二可动部分上的光电发射器照射该第一可动部分以便使位敏影像聚焦到CCD数组之上。According to a further aspect of the present invention, a CCD array attached to a first movable part of the joystick, such as its base, can be used to measure three points on the second movable part of the joystick, such as its control handle. spherical angle. For example, six data signals consisting of two spherical angles each with three relatively movable points can be processed very easily by the general method disclosed therein. According to a further concept of the invention, the position sensitive image can be focused to the CCD array by illuminating the first movable part by means of a phototransmitter fixed on the second movable part positioned coaxially with the lens arrangement. above.

根据本发明的进一步概念，该可动控制把手内部的特色为具有由一般呈多叶形式之反射区及非反射区构成的图案。According to a further aspect of the invention, the interior of the movable control handle features a pattern of reflective and non-reflective areas, generally in the form of multiple lobes.

根据本发明的进一步概念，可使光的有结构图案从第一组件投射到可相对于该第一组件沿着多轴移动的第二组件上。可藉由连接在例如第一组件上的侦测器或造影装置使用最终的照射图案定出该第一和第二组件的相对多轴位置。可使用这种配置在不需要具空间性可变反射率之第二组件表面下定出反射性第二组件的相对位置。According to a further aspect of the invention, a structured pattern of light can be made to project from a first component onto a second component movable relative to the first component along multiple axes. The relative multi-axis positions of the first and second components can be determined using the resulting illumination pattern by, for example, a detector or imaging device attached to the first component. This configuration can be used to determine the relative position of the reflective second component without the need for a second component surface with spatially variable reflectivity.

根据本发明的进一步概念，可使此中说明的单件式光电转换器套装组合包含一组件以牢牢地固定住一个或更多个弹簧。According to a further aspect of the present invention, the one-piece photoelectric converter package described herein may include a component to securely hold one or more springs.

根据本发明的进步一概念，可将能以更低廉价格取得积体式准直透镜的光电发射器及光电侦测器埋藏于不透明的绝缘化合物内使之保持在定位上例如使之固定于印刷电路板上，随后再将之当作总成进行加工或磨砂以产生适合的光学表面。According to an advanced concept of the present invention, photoemitters and photodetectors, which can be obtained more cheaply with integrated collimating lenses, can be embedded in an opaque insulating compound to hold them in place, for example to fix them to a printed circuit plate, which is then machined or sanded as an assembly to produce the appropriate optical surface.

根据本发明的进一步概念，可依围绕印刷电路板周缘面向外部方式定位交替设置的侧视型光电发射器及侧视型光电侦测器，该电路板系装设于由该至少两个可动组件中的第一组件(较佳的是指基座)上。可相对于该第一组件沿着多轴移动的第二组件(较佳的是指控制把手)所包含的反射装置一般而言系依围绕落在足够允许进行必要径向运动之距离上之第一组件的方式设置。该反射装置可以是例如具有呈圆柱状、球状或环状形式之图案的表面。According to a further concept of the present invention, the alternately arranged side-view photoelectric emitters and side-view photodetectors can be positioned around the periphery of the printed circuit board facing outwards. The circuit board is mounted on the at least two movable On the first component (preferably the base) of the components. A second component (preferably a control handle) that is movable along multiple axes relative to the first component includes reflective means that generally surround the first component at a distance sufficient to allow the necessary radial movement. set in a component way. The reflecting means may be, for example, a surface with a pattern in the form of a cylinder, a sphere or a ring.

根据本发明的进一步概念，可依并联方式连接各光电侦测器。According to a further aspect of the present invention, the photodetectors can be connected in parallel.

根据本发明的进一步概念，一般而言该反射性装置可以是一种具空间性可变反射率的圆柱状面镜。According to a further aspect of the present invention, generally speaking, the reflective device may be a cylindrical mirror with spatially variable reflectivity.

根据本发明的进一步概念，一般而言该反射性装置可以是一种具空间性可变反射率的环状面镜。According to a further aspect of the present invention, generally speaking, the reflective device may be a toroidal mirror with spatially variable reflectivity.

根据本发明的进一步概念，该反射性装置可以是一种回复反射性例如复数个锥状反射性表面。According to a further aspect of the invention, the reflective means may be a retro-reflective eg a plurality of conical reflective surfaces.

根据本发明的进一步概念，该反射性装置可以是一种多边形装置。According to a further aspect of the invention, the reflective means may be a polygonal means.

根据本发明的进一步概念，一般而言该反射性装置可以是一种球状装置。According to a further aspect of the invention, generally speaking the reflective means may be a spherical means.

根据本发明的进一步概念，可使用一般而言呈平面形式的单一弹簧以便在可动控制把手上提供恢复力。According to a further aspect of the invention, a single spring in generally planar form may be used to provide a restoring force on the movable control handle.

根据本发明的进一步概念，该一般而言呈平面形式的弹簧可设置有诸如孔洞之类的正向座落式器件以便于组合期间控制该控制把手与基座之间的对齐作业。According to a further aspect of the invention, the generally planar spring may be provided with positive seating means such as holes to facilitate controlled alignment between the control handle and the base during assembly.

根据本发明的进一步概念，可结合该一般而言呈平面形式的弹簧设置一种一般而言呈平面形式的风箱装置。According to a further aspect of the invention, a generally planar bellows arrangement can be provided in combination with the generally planar spring.

根据本发明的进一步概念，可使该控制把手内的非圆形孔洞与一非圆形转换器支撑用支柱结合以便限制该控制把手相对于基座的运动范围。According to a further aspect of the invention, the non-circular hole in the control handle may be combined with a non-circular converter support post to limit the range of motion of the control handle relative to the base.

根据本发明的进一步概念，该非圆形孔洞指的是一种具有一般而言呈平行之侧边的槽沟且该支柱具有类似但较小的截面。According to a further aspect of the invention, the non-circular hole refers to a groove with generally parallel sides and the struts have a similar but smaller cross-section.

根据本发明的进一步概念，可设置一种适合的反射器组件以利使用诸如七段式LED数字显示器之类用于光放射及/或光侦测装置的标准LED显示器套装组合。According to a further aspect of the present invention, a suitable reflector assembly may be provided to facilitate the use of standard LED display packages for light emission and/or light detection devices, such as seven-segment LED digital displays.

根据本发明的另一概念，可使用光导以便将一种多段式LED的有效几何位置变更为诸如六边式等大数组之类的更为最佳化运动式转换器结构。According to another concept of the present invention, light guides can be used to change the effective geometry of a multi-segment LED to a more optimal motion converter structure such as a large array of hexagonal.

根据本发明的另一概念，可使折射组件或是诸如含倾斜表面或菲涅耳透镜之类的透镜装置合并有或是插入有上述光转换器数组。According to another concept of the invention, a refractive assembly or a lens arrangement such as a slanted surface or a Fresnel lens can be incorporated or inserted with the above-mentioned array of light converters.

根据本发明的另一概念，可使该可动反射组件包括诸如含内凹面镜的表面之类非平面反射性片段以便例如从该装置取得必要的响应特征。According to another concept of the invention, it is possible for the movable reflective element to comprise non-planar reflective segments such as surfaces containing concave mirrors in order to obtain, for example, the necessary response characteristics from the device.

根据本发明的另一概念，可使该可动反射器装置包括一个或更多个回复性反射器，这类回复性反射器的运动可变更该一个或更多个光电发射器与一个或更多个光电侦测器之间的耦合程度。According to another concept of the invention, the movable reflector means can be made to include one or more retroreflectors, the movement of which can change the one or more phototransmitters and one or more The degree of coupling between multiple photodetectors.

根据本发明的进一步概念，该光电发射器/光电侦测器的耦合程度，可起因于增加了各个别亮度锥体之重迭程度随着其与一对应回复性反射器的距离以及随着距离增加的灵敏度而增高。According to a further aspect of the invention, the degree of coupling of the photoemitter/photodetector may result from increasing the degree of overlap of each individual brightness cone with its distance from a corresponding retroreflector and with the distance increased sensitivity.

根据本发明的另一概念，各相邻发射器/侦测器对的耦合程度，可起因于距离平方反比原理随着其与一对应回复性反射器的距离而减低。According to another aspect of the present invention, the degree of coupling of each adjacent emitter/detector pair decreases with its distance from a corresponding retroreflector due to the inverse distance square principle.

根据本发明的进一步概念，可将沿着某一轴具有回复性反射率但是沿着其它各轴具有习知反射率的表面装设于一可动控制把手上，以便结合例如一种七-转换器六角形数组以进行位置量测。According to a further aspect of the invention, a surface having retroreflectivity along one axis but conventional reflectivity along the other axes may be provided on a movable control handle in order to incorporate, for example, a seven-switch A hexagonal array of sensors for position measurement.

根据本发明的进一步概念，可使该主动式可动控制把手套用有类似菲涅耳透镜的含凹槽面镜片段且可用以控制各种光径。According to a further aspect of the present invention, the active movable control handle can be equipped with grooved mirror segments similar to Fresnel lenses and can be used to control various optical paths.

根据本发明的另一概念，可藉由在各转换器与反射组件之间插入一校准屏蔽组件达成对各种光电发射器及光电侦测器的增益校准，且可映像并比例缩放其光学透射率以便跨越试图涵盖的位移范围提供具有必要平衡的信号，并用以补偿每一个分离式装置在特征上的制程诱发性变化。According to another concept of the present invention, the gain calibration of various photoemitters and photodetectors can be achieved by inserting a calibration shield between each converter and reflective element, and its optical transmission can be mapped and scaled rate to provide a signal with the necessary balance across the range of displacements it is trying to cover and to compensate for process-induced variations in the characteristics of each discrete device.

根据本发明的又一概念，可使一透镜组件及校准屏蔽组件结合有单一组件的各种功能。According to yet another concept of the present invention, a lens assembly and calibration shield assembly can be combined with various functions of a single assembly.

根据本发明的另一概念，可设置额外光径以便对可起因于电压起伏及温度变化而出现变化的亮度进行校准。According to another aspect of the present invention, an additional optical path can be provided to calibrate the brightness that can vary due to voltage fluctuations and temperature changes.

根据本发明的另一概念，可设置一种光挡板且例如使之同时扮演着可为印刷电路板上的各光学组件进行精确定位及定向的角色。According to another concept of the present invention, a light baffle can be provided and at the same time play the role of precisely positioning and orienting the optical components on the printed circuit board, for example.

根据本发明的又一概念，可使用光纤波导以便从单一光源将光输送到多个例如六个投射点上。According to yet another concept of the present invention, fiber optic waveguides may be used to deliver light from a single source to multiple, eg six, projection points.

根据本发明的另一概念，可使用光纤波导以便从多个侦测点将光输送到单一光电侦测器上。According to another aspect of the present invention, fiber optic waveguides can be used to deliver light from multiple detection points to a single photodetector.

根据本发明的另一概念，可使用光纤波导以便从单一光电发射器将光输送到多个放射点上。According to another concept of the present invention, fiber optic waveguides can be used to deliver light from a single optoelectronic transmitter to multiple emission points.

根据本发明的进一步概念，可使用飞时规范以量测本发明之各种光学发射器与侦测器之间的可变光学距离。可藉由已知的光学距离量测电路及光学转换器以进行这种飞时量测。According to a further aspect of the present invention, the time-of-flight specification can be used to measure the variable optical distance between the various optical emitters and detectors of the present invention. Such time-of-flight measurements can be performed by known optical distance measurement circuits and optical switches.

根据本发明的进一步概念，可在为光学飞时信号施行时间倍增目的下各依与例如六个光(距离量测用)径串联的方式设置一独特的光学延迟线。这种策略可有利于使用单一光电侦测器通路且可同时有利于使用单一光电发射器。According to a further concept of the present invention, a unique optical delay line can be arranged in series with eg six optical (distance measuring) paths each for the purpose of time multiplication for the optical time-of-flight signal. This strategy can facilitate the use of a single photodetector channel and can simultaneously facilitate the use of a single photoemitter.

根据本发明的进一步概念，可在同时精确地取得多轴量测的目的下使用一种多轴干涉仪位置量测装置。可藉由从一共同较佳的是相干光源分别将一直接(未受感知器平台偏转作用影响的)参考光径加到例如六个光电感知器上。According to a further aspect of the present invention, a multi-axis interferometer position measurement device may be used for the purpose of obtaining multi-axis measurements simultaneously and accurately. This can be achieved by adding a direct (unaffected by sensor platform deflection effects) reference light path to each of eg six photosensors from a common, preferably coherent, light source.

根据本发明的进一步概念，可将一光电发射器、参考光径及各光电侦测器全部包含于一单件式光/电套装组合。According to a further aspect of the present invention, a photoelectric transmitter, reference optical path and photodetectors may all be contained in a single-piece photoelectric/electrical package.

根据本发明的进一步概念，可建造一种本发明的实施例使光于从光电发射器经面镜到光电侦测器的路径内穿过液体或凝胶。可使用这种策略例如以利使不必要的反射作用最小化或是从光学路径上将水或灰尘排除掉。According to a further aspect of the invention, an embodiment of the invention can be constructed such that light passes through a liquid or gel in the path from the photoemitter through the mirror to the photodetector. This strategy can be used, for example, to minimize unwanted reflections or to keep water or dust out of the optical path.

根据本发明的进一步概念，可使该液体或凝胶具有受控制不透明度以便在改变光学路径的长度下强化或改变一信号。According to a further aspect of the invention, the liquid or gel can be made to have controlled opacity in order to intensify or alter a signal at varying optical path lengths.

本发明的进一步概念可添加一皮重切换功能(tare switch function)以感知该装置是否处于操作状态。可使用这种皮重切换功能以便在未使用该装置的任何时候提供一无效输出以及选用的控制闩锁信号。这种策略可扮演着用以补偿起因于诸如温度变化或是该装置相对于重力的定向变化之类因素产生之零点漂移的角色。这种策略也能使该主动式控制把手总成出现振动以响应在没有使用者之手的阻泥效应下的环境机械激动状态的任何倾向变得无害。A further concept of the present invention may add a tare switch function to sense whether the device is in operation. This tare switch function can be used to provide an inactive output and optional control latch signal any time the unit is not in use. This strategy may play a role to compensate for zero point drift due to factors such as temperature changes or changes in the orientation of the device relative to gravity. This strategy also renders harmless any tendency of the active control handle assembly to vibrate in response to ambient mechanical actuation without the mud-blocking effect of the user's hand.

根据本发明的进一步概念，可藉由电容式触压感知器组件、机械式切换组件或是设计成用以侦测不存在手动信号之状况的软件运算法则完成该皮重切换功能。可将皮重切换器装设于例如手掌靠座、手腕靠座或是该装置的主动式控制把手上。According to a further aspect of the present invention, the tare switching function can be accomplished by a capacitive touch sensor component, a mechanical switching component, or a software algorithm designed to detect the absence of a manual signal. The tare switch can be mounted eg on the palm rest, on the wrist rest or on the active control handle of the device.

根据本发明的进一步概念，可透过一个或更多个弹性组件例如透过一用以支撑该主动式控制把手的弹簧与一皮重切换组件形成电气连接。According to a further aspect of the present invention, an electrical connection can be made to a tare switching component via one or more elastic components, such as a spring for supporting the active control handle.

根据本发明的进一步概念，该皮重切换功能可扮演着用以量测起因于使用者的手及前臂加到例如摇杆上之力量的角色。本实施例中，可由一初始信号代表起因于重量产生的力量，而由一后续信号代表该重量加上刻意的操作员输入。能藉由硬件或软件施行的皮重功能组件可造成重量组件受到忽视或「去皮」。于是前述策略允许操作员在传输或使用摇杆的输出信号之前舒适地将其手或前臂的重量放到该摇杆上。依这种方式，该摇杆会先运作以量测使用者之手或前臂重量的效应，随后再运作以转换操作员刻意的输入。从称重功能到转换器功能的跃迁可纯粹藉由使用适当时间延迟的软件完成或是藉由各种型式的实体皮重开关。例如，可结合计时功能使用一种通用全抓型电容式触压感知器以允许对使用者的手进行一秒钟的称重，之后可机械地将信号上所出现的任何进一步变化解读为刻意的操作员指令。当作另一实例，可由操作员依意志按下指控式开关以便在任意时刻将该皮重功能设为零。According to a further aspect of the present invention, the tare switch function may play a role in measuring the force due to the user's hand and forearm on eg a joystick. In this embodiment, an initial signal may represent the force due to weight, and a subsequent signal may represent the weight plus deliberate operator input. Tare function components, which can be implemented by hardware or software, can cause weight components to be ignored or "tareed." The foregoing strategy then allows the operator to comfortably place the weight of his hand or forearm on the joystick before transmitting or using the output signal of the joystick. In this manner, the joystick operates first to measure the effect of the weight of the user's hand or forearm, and then operates to translate the operator's deliberate input. The transition from weighing function to converter function can be done purely by software using appropriate time delays or by various types of physical tare switches. For example, a general-purpose full-grip capacitive touch sensor could be used in conjunction with a timing function to allow the user's hand to be weighed for one second, after which any further changes in the signal could be mechanically interpreted as deliberate. operator commands. As another example, the tare function can be set to zero at any time by pressing a finger switch at will by the operator.

可使用各种策略使由本发明装置所产生的信号具有最大的可用性。为了控制计算机绘图的目的，非常有利的是可使用软件解读操作员的意图，而不单是将信号所产生的位移转换成诸如实体模型或是所操纵相机之观测点之类物体的速率。根据本发明的一实施例，可为受控制的虚拟物体指定一虚拟质量、重心位置及有关六个轴的惯性动量。然后可来自本发明装置的信号转换成作用于该虚拟质量上的有效力量。依这种方式，可很容易地取得平滑而可预测的运动。根据本发明的进一步概念，比例/积分/微分策略的使用方式是使所选择的系数最接近满足操作员的意图。Various strategies can be used to maximize the usability of the signals generated by the devices of the present invention. For the purpose of controlling computer graphics, it would be very advantageous to have software that interprets the operator's intentions and not just translates the displacement produced by the signal into the velocity of an object such as a solid model or the point of view of a manipulated camera. According to an embodiment of the present invention, a virtual mass, a position of a center of gravity, and moments of inertia about six axes can be specified for a virtual object to be controlled. Signals from the device of the invention can then be converted into effective forces acting on the virtual mass. In this way, smooth and predictable motion is easily achieved. According to a further aspect of the invention, the proportional/integral/derivative strategy is used in such a way that the selected coefficients most closely meet the operator's intent.

根据本发明的另一概念，能以软件偏移x，y和z轴的原点使之落在使用者手腕的自然枢轴点上，虽则可使该物理装置保持落在能由使用者的手或手指抓住的地点上。According to another concept of the present invention, the origin of the x, y and z axes can be offset in software to fall on the natural pivot point of the user's wrist, although the physical device can be kept in a position that can be controlled by the user's hand. or where the finger grasps.

根据本发明的进一步概念，可旋转x，y和z轴的定向以适合使用者。According to a further aspect of the invention, the orientation of the x, y and z axes can be rotated to suit the user.

根据本发明的进一步概念，可使用软件而不理会操作员产生的信号以防止从属平台或是装设于这种平台上的装置出现皱折、碰撞或是其它不必要定位问题。According to a further aspect of the invention, software may be used to override operator-generated signals to prevent buckling, bumping, or other unwanted positioning problems of slave platforms or devices mounted on such platforms.

根据本发明的另一概念，可转换该装置的坐标以对应动态变化型坐标系统或是替代型坐标系统。例如，可依实时或跟随移动机器的方式施行坐标转换。According to another aspect of the present invention, the coordinates of the device can be transformed to correspond to a dynamically changing coordinate system or an alternative coordinate system. For example, coordinate transformations can be performed in real time or following a moving machine.

根据本发明的另一概念，可转换该多轴摇杆的坐标以控制建筑或伐木机械装置或是诸如螺旋叶片、装填篮、堆高机、钻孔机、路面破坏器及操控器之类配件。According to another concept of the present invention, the coordinates of the multi-axis rocker can be transformed to control construction or logging machinery or accessories such as screw blades, loading baskets, stackers, drills, road breakers and manipulators .

根据本发明的进一步概念，可将诸如MEMS加速计及角速率感知器之类感知器连接到控制机械装置的各个部分上以完成实时的坐标转换作业。这种应用中，可在惯用的绝对角上获致更高准确度，而不再需要定位量测装置且可能极为昂贵。根据本发明的这种控制策略，对原始未配备有位置感知器建筑设备及具有六个绝对位置感知器且总价极高的六角舱盖(Stewart平台)而言特别具吸引力。According to a further concept of the present invention, sensors such as MEMS accelerometers and angular rate sensors can be connected to various parts of the control mechanism to perform real-time coordinate conversion operations. In such applications, higher accuracy can be obtained in conventional absolute angles without requiring and potentially prohibitively expensive positioning measuring devices. This control strategy according to the invention is particularly attractive for hexagonal hatches (Stewart platform) which are originally not equipped with position sensors and which have six absolute position sensors and are very expensive in total.

根据本发明的进一步概念，一种六角舱盖可在每一个基座平台及从属平台的数个位置(例如三个)以及靠近每一个发动机端点、支柱或环节上配备有加速计或速率感知器。有了这种结构，可取得充分信息而能立即且不需要积分下量测其位置、速度及加速度。According to a further aspect of the invention, a hex hatch can be equipped with accelerometers or velocity sensors at several locations (e.g. three) on each base platform and slave platforms and near each engine end point, strut or link . With this structure, sufficient information can be obtained to measure its position, velocity and acceleration immediately and without integration.

根据本发明的进一步概念，可结合习知建筑设备使用一种六角舱盖当作操纵机台。According to a further concept of the present invention, a hexagonal hatch can be used as a manipulating platform in combination with conventional construction equipment.

根据本发明的进一步概念，可利用其个别基座及从属平台上的公及母转换器将六角舱盖建造成一种标准器具转换器的延伸装置。According to a further concept of the invention, the hex hatch can be built as an extension of a standard appliance converter with its individual base and male and female converters on the slave platform.

根据本发明的进一步概念，一种多轴例如六角舱盖式设备转换器可套用有由习知单一回路液力系统或其它电力源供电的动力控制模块。该动力控制模块可结合有液力驱动式产生器以推动伺服阀门、电气发动机或其它相关电子装置。较佳的是可藉由落在信号传输路径之任意一端或两端上的计算机使控制信号依无线方式在此中揭示的摇杆与转换器之间传送。根据本发明的进一步概念，可藉由例如无线网络依无线方式连接诸如MEMS加速计及角速率感知器之类的必要感知器。According to a further aspect of the present invention, a multi-axis, for example, hexagonal canopy-type equipment converter can be equipped with a power control module powered by a conventional single-circuit hydraulic system or other power sources. The power control module may incorporate hydraulically driven generators to drive servo valves, electric motors or other associated electronics. Preferably, control signals can be wirelessly transmitted between the joystick and the switch disclosed herein by a computer located at either or both ends of the signal transmission path. According to a further aspect of the present invention, necessary sensors such as MEMS accelerometers and angular rate sensors can be connected wirelessly by eg a wireless network.

根据本发明的进一步概念，可使诸如MEMS加速计及角速率感知器之类落在离散点上的感知器增设有角度位置感知器及线性位置感知器。According to a further concept of the present invention, sensors such as MEMS accelerometers and angular rate sensors that fall on discrete points can be added with angular position sensors and linear position sensors.

根据本发明的进一步概念，机器观测为基础的感知装置可依分离方式使用或是结合有前述落在离散点上的感知器。这种结构容许有极高的准确度而排除了对高精确度机构及昂贵之绝对位置编码器的需求。运动的机器观测控制可在运动封包内需要高区域准确度的部分使用具有有限视野的高分辨率光学组件，而结合具有较低准确度的广角视觉设备以便进行坐标转换作业。可由前述诸如MEMS加速计及角速率感知器之类落在离散点上的感知器或是习知的角度及位移感知器以设置或增设有坐标转换目的下的几何结构。According to a further aspect of the present invention, the machine-observation-based sensing means may be used in a separate manner or in combination with the aforementioned sensors falling on discrete points. This structure allows for extremely high accuracy and eliminates the need for high precision mechanisms and expensive absolute position encoders. Machine-observed control of motion can use high-resolution optics with a limited field of view for parts of the motion envelope that require high area accuracy, combined with lower-accuracy wide-angle vision for coordinate transformation operations. Geometries for coordinate transformation purposes can be set or augmented by the aforementioned sensors such as MEMS accelerometers and angular rate sensors placed on discrete points, or conventional angle and displacement sensors.

根据本发明的进一步概念，可使用机器视觉以便在该装置之坐标系统受到控制下定出受控制机器的现况以达成为摇杆之坐标系统进行实时对齐的目的。According to a further concept of the present invention, machine vision can be used to determine the current state of the controlled machine under control of the coordinate system of the device for the purpose of real-time alignment for the coordinate system of the joystick.

根据本发明的进一步概念，可使用机器视觉系统以同时将各影像提供给操作员以便进行远隔控制，而同时提供经机器解读的信息以便在摇杆与受控制装置之间施行实时坐标转换。可使用一个或更多个机器视觉系统以同时将各视频信息提供给人力操作员或是坐标转换控制器。According to a further aspect of the invention, a machine vision system can be used to simultaneously provide images to the operator for remote control, while simultaneously providing machine interpreted information for real-time coordinate conversion between the joystick and the controlled device. One or more machine vision systems may be used to simultaneously provide individual video information to a human operator or coordinate transformation controller.

根据本发明的另一概念，可允许相对于落在从属移动平台之坐标系统以及诸如固定式工作对象或是建筑计划组件之类其它坐标系统之内任何特定之必要点上对坐标转换进行控制。可使有用的暂时性从属平台之坐标原点用的特定点实例包含木螺钻或钻床的顶端、在叉尖顶之间的中间点、在钢梁末端之螺栓孔图形、由一相机所追踪或观察到的对象、在CAT扫描数据集或计算机模型内，如所关切区域之对象之类。可相对于诸如装填器或堆高机之类设备上连接有多轴或六角舱盖式操纵器的部分、设备操作员或者甚至是用以支撑该设备的固定式架构或地面之类各种固定式坐标系统之一对从属平台的运动进行控制。According to another concept of the present invention, coordinate transformations are allowed to be controlled relative to any specific necessary point falling within the coordinate system of the slave mobile platform and other coordinate systems such as fixed work objects or building plan components. Examples of specific points that can be used as coordinate origins for useful temporary slave platforms include the top of a wood auger or drill press, the midpoint between the tips of the prongs, a bolt hole pattern at the end of a steel beam, tracked or viewed by a camera detected objects, within a CAT scan data set or a computer model, such as objects in a region of interest. Can be fixed relative to parts of equipment such as loaders or stackers with multi-axis or hex hatch manipulators attached, the operator of the equipment, or even the fixed structure or ground on which the equipment is supported One of the formula coordinate systems controls the motion of the slave platform.

根据本发明的进一步概念，可使用操作员眼睛机器视觉侦测以允许操作员随时指派新的坐标原点、坐标定向或运动限制。这种目视指派策略允许多轴操纵器的操作员指派例如一种结构性桁梁的一端保持受到限制而使另一端对齐以便在摇杆控制下进行螺栓闩锁。这允许操作员在不必关心因桁梁的另一端造成破坏下专注于螺钉孔的对齐。According to a further aspect of the present invention, operator eye machine vision detection may be used to allow the operator to assign new coordinate origins, coordinate orientations or motion constraints at any time. This visual assignment strategy allows the operator of a multi-axis manipulator to assign, for example, one end of a structural girder to remain constrained while the other end is aligned for bolt latching under rocker control. This allows the operator to focus on the alignment of the screw holes without concern for damage caused by the other end of the truss.

根据本发明的另一概念，可选择性地限制该从属平台沿着所选轴的运动。可藉由使用应用规格的限制暂时将运动的自由度限制从6变为更低的自由度，以达成更大的准确度及应用性。这在下列应用上是很重要的，例如以五轴或六轴控制器选定对齐状态(尖顶位置及钻孔定向)并在那之后于钻孔期间固定其钻孔轴的钻孔作业，或是最好以六轴控制器完成其叉型臂之定位及对齐但必要的是进行直接向前跟着直接向上的运动以推高负载的堆高机作业之类的应用。According to another aspect of the invention, movement of the slave platform along selected axes can be selectively restricted. Greater accuracy and applicability can be achieved by temporarily changing the DOF limit of motion from 6 to a lower DOF using application-specific constraints. This is important in applications such as drilling operations where the alignment state (apex position and drilling orientation) is selected with a five- or six-axis controller and thereafter fixed its drilling axis during drilling, or Applications such as forklifts where the positioning and alignment of the wishbone arms is best done with a six-axis controller but direct forward followed by direct upward motion is necessary to push up the load.

根据本发明的进一步概念，可由操作员使用受控制设备或装载量的触控屏幕绘图表现法以便依绘图方式选择坐标系统的原点及/或定向。According to a further aspect of the invention, a touch screen graphical representation of the controlled equipment or load may be used by the operator to graphically select the origin and/or orientation of the coordinate system.

根据本发明的另一概念，该机械操纵器的操作员能够将结构梁柱的一个端点指派为一轴的原点，其方式是例如藉由将梁柱端点三次放到相同的地点上但是使梁柱之轴落在个不同的定向上。According to another concept of the invention, the operator of the mechanical manipulator is able to assign an end point of a structural beam column as the origin of an axis, for example by placing the end point of the beam column on the same spot three times but making the distance between the beam column Axes fall in different orientations.

根据本发明的另一概念，操作员可于输入装置之坐标系统、从属平台之坐标系统或是计算机模型之从属平台中任意一种装置内选定x，y和z轴的原点使之偏移特定距离，亦即呈不相交的且倾斜特定角度亦即呈非直角的。According to another concept of the present invention, the operator can select the origin of the x, y and z axes in any one of the coordinate system of the input device, the coordinate system of the slave platform, or the slave platform of the computer model to make them offset Certain distances, ie non-intersecting and inclined at certain angles, ie non-right angles.

根据本发明的进一步概念，为了准确地计算出具固定架构的坐标值，可使用装设有从属平台的倾斜感知器以直接量测两个轴在该工具与重力坐标之间的旋转。替代地，可使用诸如雷射式距离计量器之类装设有从属平台的感知器以便在例如使钻孔机与该表面呈稍微垂直目的下定出一平坦表面的定向。According to a further aspect of the present invention, in order to accurately calculate the coordinates of the fixed frame, a tilt sensor equipped with a slave platform can be used to directly measure the rotation of the two axes between the tool and the gravitational coordinates. Alternatively, sensors such as laser distance gauges mounted with slave platforms may be used to orient a flat surface for the purpose of, for example, orienting the drill slightly perpendicular to the surface.

根据本发明的进一步概念，可使用软件码以便对起因于平移轴与旋转轴之间和线圈型弹簧恢复组件呈共轴的线圈型弹簧不对称性所产生的任何非刻意耦合现象进行补偿。According to a further aspect of the invention, software code may be used to compensate for any unintentional coupling due to coil spring asymmetry between the translational and rotational axes being coaxial with the coil spring return assembly.

本发明的各种可用以强化其应用性或是对容易使用有贡献的额外实施例将说明如下：Various additional embodiments of the invention that may enhance its applicability or contribute to ease of use are described below:

本发明之一实施例所提供的一种多轴摇杆，可由操作员的手掌抓住其基座并由无名指及小指支持住，同时可由操作员的姆指、食指及中指操纵其主动式控制把手。这种结构允许手腕及手臂在例如走动、为其它人呈现信息或是执行建筑工作时具有自由度。An embodiment of the present invention provides a multi-axis rocker, the base of which can be grasped by the operator's palm and supported by the ring finger and little finger, and its active control can be manipulated by the operator's thumb, index finger and middle finger handle. This structure allows freedom of the wrist and arm when, for example, walking around, presenting information to other people, or performing construction work.

根据本发明的进一步概念，可由习知的计算机鼠标扮演着本发明之六轴输入装置的基座角色。这种结构中，该基座部分可由使用者的手掌加以控制且可扮演着提供有两个自由度的习知计算机鼠标角色，而本发明的多轴输入装置则提供了额外的六个自由度且可由使用者的姆指、食指及中指作独立的控制。这种结构可提供有例如八个自由度。According to a further concept of the present invention, a conventional computer mouse may act as the base of the six-axis input device of the present invention. In this configuration, the base portion can be controlled by the user's palm and can act as a conventional computer mouse providing two degrees of freedom, while the multi-axis input device of the present invention provides an additional six degrees of freedom And it can be independently controlled by the user's thumb, index finger and middle finger. Such a structure may provide, for example, eight degrees of freedom.

根据本发明的进一步概念，计算机鼠标可配备有例如一额外的光学转换器系落在从习知x-y轴鼠标运动转换器之位置偏移出的点上，因此提供有整体而言对该偏移转换器与绕鼠标之垂直轴的旋转运动之间的差分运动具灵敏度的额外鼠标轴。依这种方式，可使用扭转运动以产生另一额外的或是例如第三输出轴。这种结构可提供有例如九个自由度。可更符合人类环境改造学的方式以具有「手枪」或「游戏摇杆」型控制把手的鼠标完成绕其垂直轴的扭转运动，它的使用可使手腕端点与其桡骨及尺骨呈垂直对齐。使用者的手腕可依这种定向旋转大概90度，较之使用者的手抓住习知鼠标时或许可达到的30度。本实施例中「手枪」或「游戏摇杆」型控制把手的进一步优点是也可由小指及无名指牢牢地抵住使用者的手掌而空出使用者的姆指、食指及中指以启动按钮及/或附属的(小型)摇杆。可使这种控制把手最佳化以便使用者能够只以小指及无名指牢牢地抵住使用者的手掌而舒适又稳固地抓住此控制把手。本发明的数种转换器装置比习知设计的转换器装置更适合建造足够小的摇杆以便只用食指、中指及姆指操作且足够小以便连接到第一摇杆或鼠标上。某些允许进行必要之大范围运动之习知摇杆的设计可能在以强固形式进行微型化上显得特别困难。According to a further aspect of the invention, the computer mouse may be equipped with, for example, an additional optical transducer located at a point offset from the position of the conventional x-y axis mouse movement transducer, thus providing an overall view of the offset Additional mouse axis with sensitivity for differential movement between transducer and rotational movement about the vertical axis of the mouse. In this way, a twisting movement can be used to generate another additional or, for example, a third output shaft. Such a structure may provide, for example, nine degrees of freedom. Twisting motion about its vertical axis can be accomplished in a more ergonomic manner with a mouse having a "pistol" or "joystick" type control grip, the use of which allows the wrist endpoint to be aligned vertically with its radius and ulna. The user's wrist can rotate approximately 90 degrees in this orientation, compared to the 30 degrees that the user's hand might be able to achieve when grasping a conventional mouse. The further advantage of the "pistol" or "joystick" type control handle in this embodiment is that the little finger and ring finger can also be firmly pressed against the user's palm, leaving the user's thumb, index finger and middle finger free to activate the button and /or the attached (small) joystick. The control handle can be optimized so that the user can comfortably and securely grasp the control handle with only the pinky and ring fingers firmly against the user's palm. Several transducer devices of the present invention are better than conventionally designed transducer devices for building joysticks small enough to be operated with only the index, middle and thumb fingers and small enough to be attached to a primary joystick or mouse. Certain conventional joystick designs that allow for the necessary large range of motion can be particularly difficult to miniaturize in a robust form.

根据本发明的进一步概念，可在相互偏移开的数个地点上设置有如美国专利申请案第US2002/0104957 A1号文件中所说明的姆指操作型转换器以便提供额外的自由度。According to a further concept of the present invention, a thumb-operated switch as described in US Patent Application No. US2002/0104957 A1 may be provided at several locations offset from each other to provide additional degrees of freedom.

根据本发明的进一步概念，可使用诸如此中所说明或是具有滚动条轮之类三轴鼠标的三个自由度以便在实体的计算机辅助设计模型中挑选各组件，而所连接的六轴装置则可提供额外的六个自由度以操纵藉由前三个轴选出的组件。According to a further aspect of the invention, the three degrees of freedom of a three-axis mouse such as that described herein or with a scroll wheel can be used to select components in a CAD model of a solid, while the connected six-axis device An additional six degrees of freedom are then provided for manipulating components selected by the first three axes.

根据本发明的进一步概念，可将具有六个自由度的手指及姆指操作型装置装设于具有六个自由度的掌持式输入装置内以提供一种能够只以一只手同时控制12个轴的装置。可使用这种组合以便例如在控制一操纵器悬臂的同时得以控制其支撑车辆。使用这种装置能以双手同时为24个轴提供控制。According to a further concept of the present invention, a six-degree-of-freedom finger and thumb-operated device can be installed in a palm-type input device with six degrees of freedom to provide a device that can simultaneously control 12 devices with only one hand. axis device. This combination can be used, for example, to control a manipulator boom while simultaneously controlling it to support the vehicle. Using this device can provide control for 24 axes simultaneously with both hands.

根据本发明的进一步概念，可将具有六个自由度的手指操作型输入装置附加到任何数目的诸如飞行控制杆、飞行控制偏转线圈、方向盘、舵轮、摇杆、控制杠杆及控制短索之类除此之外属习知设计的控制装置。According to a further aspect of the invention, a finger-operated input device with six degrees of freedom can be attached to any number of devices such as flight control sticks, flight control deflection coils, steering wheels, steering wheels, joysticks, control levers, and control lanyards. Belong to the control device of conventional design besides.

这种策略能有利于可连接到基座或车辆上而需要或受益于同时进行多轴控制的多轴操纵器或工具。This strategy can be advantageous for multi-axis manipulators or tools attachable to a base or vehicle that require or benefit from simultaneous multi-axis control.

本发明又一实施例可以是一种供四肢麻痹患者使用的嘴巴、颚骨或头部操作型控制器，其中这类应用的习知设计显得太笨重。Yet another embodiment of the invention may be a mouth, jaw or head operated controller for use by quadriplegic patients where conventional designs for such applications would be too bulky.

根据本发明的另一概念，整个装置可以是一种手持而可携式装置，且可相对于对使用者的手或手指而言保持固定的基座部分操作该主动式控制把手，如是允许只以一只手支持并使用该装置。替代地，可藉由诸如绷带或手套之类装置将基座的一部分牢牢地固定于使用者的手腕或手掌上。甚至较佳的是可藉由无线装置为这种手持式装置进行信号传输。用于这种手持式结构的坐标系统可以是一种相对于该装置落在使用者手内之固定部分的坐标系统，或是相对于由某些诸如无线电信号、雷射信号、陀螺仪信号、磁性定向及重力定向之类轨范的组合定出的外部坐标系统。这种可携式装置可结合有诸如定向感知器、加速计及陀螺仪之类的其它装置。According to another concept of the invention, the entire device can be a hand-held and portable device, and the active control handle can be operated relative to the base part which remains fixed to the user's hand or fingers, thus allowing only Support and use the device with one hand. Alternatively, a portion of the base may be securely secured to the user's wrist or palm by means such as a bandage or glove. Even preferably, signal transmission for such hand-held devices can be performed by wireless means. The coordinate system used for such hand-held structures may be a coordinate system relative to a fixed part of the device that rests in the user's hand, or a coordinate system relative to the An external coordinate system determined by a combination of programs such as magnetic orientation and gravity orientation. Such portable devices may incorporate other devices such as orientation sensors, accelerometers, and gyroscopes.

根据本发明的进一步概念，将上述「手持式」结构装设于手腕或前臂上允许结合有铰链以便暂时将该主动式控制把手荡出操作员之手的动线之外。According to a further aspect of the invention, mounting the aforementioned "handheld" structure on the wrist or forearm allows for the incorporation of a hinge to temporarily swing the active control handle out of the line of motion of the operator's hand.

根据本发明的又一概念，可使六轴感知器总成座落在两个把手之间，使得两个把手的相对运动能产生对应信号。该把手可以是例如类似于结合新力公司之

Figure GSB00000038557800181
或是微软公司之
Figure GSB00000038557800182
使用之双手型游戏落地架的两个半边装置。According to another concept of the present invention, the six-axis sensor assembly can be positioned between two handles, so that the relative movement of the two handles can generate corresponding signals. The handle can be, for example, similar to the
Figure GSB00000038557800181
or Microsoft's
Figure GSB00000038557800182
The two half-side devices of the two-handed game floor stand used.

根据本发明的另一概念，可使该装置具有足够小的尺寸以结合于计算机键盘、手持式计算机或是另一种控制把手或装置之内。According to another aspect of the invention, the device can be made small enough to be incorporated into a computer keyboard, hand-held computer, or another control handle or device.

可在配载有例如绝缘冬季手套时，以极慎重的手部运动操作建筑设备的操作摇杆。这种状况下，手指操作型微细范围运动式摇杆可起因于压倒性的振动及机械装置运动以及缺乏微细的指尖触觉反馈作用而变得不切实际。据此，本发明的数种概念及实施例强调了对更大运动范围的需求如下：Operating rockers of construction equipment can be operated with extremely deliberate hand movements while wearing, for example, insulated winter gloves. In this situation, finger-operated fine-range motion joysticks can become impractical due to the overwhelming vibration and movement of the mechanism and the lack of fine tactile feedback from the fingertips. Accordingly, several concepts and embodiments of the present invention address the need for greater range of motion as follows:

根据本发明的一概念，可藉由能将感知器基座连接其上的一个或更多个弹性组件为该主动式控制把手提供经强化的运动范围。According to one concept of the present invention, the active control handle can be provided with an enhanced range of motion by one or more elastic members to which the sensor base can be attached.

根据本发明的进一步概念，可建造各弹性组件以使各轴之间任何非刻意形成的耦合作用最小化。这可例如藉由将具有限运动范围之多轴摇杆(根据本发明、习知或未来设计的)的基座固定于第一装设区块上，其可于此第一装设区块上固定有三个或更多个有弹性且一般而言呈平行之杆柱的上边端点。各弹性杆柱的下边端点则系固定于第二装设区块上。无论该第一及第二装设区块在水平平面内的偏转状态为两者都倾向于保持相互平行。换句话说，因此可在各水平旋转轴没有非刻意或不必要的耦合作用下提供进行水平平移的弹性。可将该第二装设区块装设于一对具有偏移但是一般而言呈平行的叶片型弹簧上。可相对于操作员为该一般而言呈平行的叶片型弹簧上的另一端点进行固定。该叶片型弹簧总成可在全部三个轴上提供扭转坚实度同时允许该摇杆控制把手进行明显的z-轴运动。According to a further aspect of the invention, the resilient components can be constructed to minimize any unintentional coupling between the shafts. This can be done, for example, by fixing the base of a multi-axis rocker (according to the present invention, conventional or future design) with a limited range of motion to a first mounting block where it can Three or more elastic, generally parallel, upper ends of the poles are fixed on the top. The lower endpoints of each elastic rod are fixed on the second installation block. Regardless of the deflection state of the first and second installation blocks in the horizontal plane both tend to remain parallel to each other. In other words, flexibility to perform horizontal translation is thus provided without unintentional or unnecessary coupling of the respective horizontal rotation axes. The second mounting block may be mounted on a pair of offset but generally parallel leaf springs. The other end point on the generally parallel leaf spring can be fixed relative to the operator. The leaf spring assembly provides torsional stiffness in all three axes while allowing appreciable z-axis movement of the rocker control handle.

根据本发明的进一步概念，可藉由一种弹性风箱保护该转换器装置及其它可动零件不致受到破坏或污染。According to a further aspect of the invention, the converter device and other movable parts can be protected from damage or contamination by an elastic bellows.

根据本发明的进一步概念，可设计各风箱使其绕各风箱对称轴的运动呈现出明显的扭转顺从度，一般而言这种现象不会出现在使用习知风箱的例子里。According to a further aspect of the invention, the bellows can be designed such that movement about the axis of symmetry of the bellows exhibits a significant degree of torsional compliance, which would normally not be the case with conventional bellows.

根据本发明的进一步概念，可在平衡受风箱保护之空腔内压力目的下设置一第二风箱(是否连接于该可动机构上皆可)。这种概念对在未起因于除此之外必要的排气作用而造成压力差或污染下有利于进行z-轴运动而言是特别重要的。According to a further concept of the present invention, a second bellows (whether connected to the movable mechanism or not) may be provided for the purpose of balancing the pressure in the cavity protected by the bellows. This concept is particularly important to facilitate z-axis motion without pressure differentials or contamination due to otherwise necessary venting.

根据本发明的另一概念，可设置一腕靠使之能随着该主动式控制把手移动或依与之相关的方式移动但是可依与该主动式控制把手分开的方式支撑使用者手臂的重力及加速度负担。依这种方式，可必要地支撑使用者手臂以减其疲乏度同时允许进行大范围的运动，这在诸如操作建筑设备之类高振动环境中是必要的。例如可藉由使用和腕靠有关的分开装填单元完成对使用者手臂之瞬时重量的量测作业。According to another concept of the present invention, a wrist rest can be arranged so that it can move with or in relation to the active control handle but can support the weight of the user's arm separately from the active control handle. and acceleration load. In this way, the user's arms can be supported as necessary to reduce fatigue while allowing a wide range of motion, which is necessary in high vibration environments such as operating construction equipment. For example, the measurement of the instantaneous weight of the user's arm can be accomplished by using a separate filling unit associated with the wrist rest.

以下将要说明各种可增高本发明装置之应用性的额外修正及改良型式：Various additional modifications and improvements that can increase the applicability of the device of the present invention will be described below:

根据本发明的进一步概念，可将一种根据本发明的多轴转换器附加到除此之外属习知设计的Stewart平台或等效装置上，使得该多轴转换器可产生操作员启动力量/位移信号，同时底下Stewart平台或等效装置将力量及位置的反馈供应给操作员。较之由该多轴转换器本身所提供的位移，这种装置也可用来提供加大的位移。According to a further aspect of the invention, a multi-axis converter according to the invention may be affixed to an otherwise known design Stewart platform or equivalent so that the multi-axis converter can generate an operator actuation force /displacement signal while the underlying Stewart platform or equivalent supplies force and position feedback to the operator. Such devices can also be used to provide increased displacements compared to those provided by the multi-axis transducer itself.

根据本发明的另一概念，可使用光纤波导以便在转换器总成之内发射并接收光，这可例如用以从转换器附近将电力组件排除掉，以便用于诸如对所用具吊桶之卡车式起重吊杆或机器手臂进行控制以维护高压电源线之类。对极小型多轴位置转换器的建造而言可将本发明装置连接有光纤的版本应用在微型机器人、小尺度电气及机械装置以及微生物及医学之类的应用上。According to another concept of the present invention, fiber optic waveguides can be used to transmit and receive light within the converter assembly, which can be used, for example, to keep electrical components out of the vicinity of the converter for applications such as trucks with buckets Lifting booms or robotic arms to maintain, for example, high voltage power lines. For the construction of very small multi-axis position transducers, the optical fiber-connected version of the device of the present invention can be used in applications such as micro-robots, small-scale electrical and mechanical devices, and microbiology and medicine.

根据本发明的另一概念，可藉由将参考质量连接到可动面镜总成上将本发明的转换器组件当作六轴加速计或运动感知器使用。According to another concept of the present invention, the transducer assembly of the present invention can be used as a six-axis accelerometer or motion sensor by connecting a reference mass to a movable mirror assembly.

根据本发明的另一概念，可使用本发明的位移转换器组件当作一般用途之多轴位移量测装置。According to another concept of the present invention, the displacement transducer assembly of the present invention can be used as a general-purpose multi-axis displacement measuring device.

根据本发明的进一步概念，可设置一噪声抵销组件以降低来自环境振动的噪声。例如，可使用装设于装置基座上的加速计以抵销诸如因车辆振动造成的信号之类假性信号。According to a further aspect of the present invention, a noise cancellation component may be provided to reduce noise from ambient vibrations. For example, an accelerometer mounted on the base of the device may be used to cancel out spurious signals such as those caused by vehicle vibrations.

可应用本发明的各种概念以降低成本并制作更轻巧的习知实施例。例如，结合Hilton等人提出的光转换器电路及黑点补偿装置使用本发明的面镜组件可有利于单一电路板或单件式光转换器的使用。此实例中，可使各面镜为静止的而黑点补偿装置为可动的或者使各面镜为可动的而黑点补偿装置为静止的。替代地，可以光纤或光导组件取代各面镜以逆转各光径方向或使光从单一光源分散到具有适合定向及几何形状的光径上。Various concepts of the present invention can be applied to reduce costs and make conventional embodiments more lightweight. For example, use of the mirror assembly of the present invention in conjunction with the light converter circuit and black spot compensation device proposed by Hilton et al. may facilitate the use of a single circuit board or one-piece light converter. In this example, the mirrors can be made stationary while the shading compensation device is movable or the mirrors can be made movable while the shading compensation device is stationary. Alternatively, the mirrors can be replaced by optical fibers or light guide components to reverse the direction of the individual light paths or to disperse light from a single source onto light paths of suitable orientation and geometry.

本发明的进一步实施例可将复数个(例如六个)诸如霍尔效应转换器或是巨磁效应(GME)转换器之类的磁通量感知器结合到在相对于一磁通量结构(例如可藉由单一磁铁建造)的多个(例如六个)自由度上可动的单一印刷电路板之上。该实施例可藉由通量传导用磁性控制把手或其上可沿着任何必要方向提供一围绕各磁通量感知器之通量路径(用于外部强加之磁场)的一部分遮蔽各磁通量感知器使之不受环境磁场的影响。例如，可使用铁磁性磁极片以引导磁通量，其方式是在磁通量感知器上建立很容易量测得的磁通量梯度，因此变得可相对于各侦测器侦测出各通量路径的位移。例如，在每一个磁通量路径可拦截两个磁通量侦测器下沿着三个路径引导该通量。可相对于各通量路径为各磁通量感知器进行定位及定向，使得其运动灵敏轴落在可使其磁通量和具有最大磁通量侦测器灵敏之轴的矢量积相对于位移之微分为最大的方向上。Further embodiments of the present invention may incorporate a plurality (eg, six) of flux sensors such as Hall effect transducers or giant magnetic effect (GME) transducers in relation to a flux structure (eg, accessible by Built with a single magnet) on a single printed circuit board movable in multiple (eg, six) degrees of freedom. This embodiment can shield each magnetic flux sensor by magnetically controlling the handle for flux conduction or a portion thereof which can provide a flux path (for externally imposed magnetic fields) around each magnetic flux sensor in any necessary direction. Unaffected by ambient magnetic fields. For example, ferromagnetic pole pieces can be used to direct the magnetic flux by creating easily measurable flux gradients across the flux sensors, so that displacement of the flux paths relative to the detectors becomes detectable. For example, the flux is directed along three paths where each flux path may intercept two flux detectors. Each magnetic flux sensor may be positioned and oriented relative to each flux path such that its motion-sensitive axis falls in a direction that maximizes the differential of the vector product of its magnetic flux and the axis having the greatest flux detector sensitivity with respect to displacement superior.

替代地，可依类似方式使用诸如在力量转换器上结合有微型磁铁的MEMS装置之类磁通量梯度型侦测器，其中可相对于感知器灵敏轴的定向为通量密度的二次微分进行定向并使之最佳化。Alternatively, a magnetic flux gradient type detector such as a MEMS device incorporating miniature magnets on a force transducer can be used in a similar manner, where orientation can be done as the quadratic differential of the flux density with respect to the sensor's sensitive axis orientation and optimize it.

根据本发明的又一概念，可依电气方式从输出信号中将线路频率噪声滤掉。According to yet another concept of the present invention, line frequency noise can be electrically filtered out from the output signal.

根据本发明的又一概念，可在有或没有分开电阻器下于电路板上设置有额外的回路电路以便为悬吊有弹簧的总成提供磁性阻尼作用。这种阻尼作用在诸如建筑设备应用之类振动倾向的环境内是很有用的。According to yet another concept of the present invention, an additional loop circuit may be provided on the circuit board with or without a separate resistor to provide magnetic damping to the spring-suspended assembly. Such damping is useful in vibration-prone environments such as construction equipment applications.

本发明的进一步实施例可使用弹性体或弹性体结构以量测例如一控制把手的偏转作用。依更简单的形式，可使这种实施例包括一单一导电弹性体结构及连接其上的相关电气端子。较佳的是该导电弹性体具有离子导电性，这种性质会造成平滑而有用的应变阻抗特征，相反地，填充有导电粒子之弹性体则呈现出比较没有用的应变阻抗特征。Further embodiments of the invention may use elastomers or elastomeric structures to measure the deflection of eg a control handle. In simpler form, such an embodiment can be made to comprise a single conductive elastomeric structure and associated electrical terminals connected thereto. Preferably, the conductive elastomer is ionically conductive, a property that results in a smooth and useful strain resistance characteristic, whereas elastomers filled with conductive particles exhibit a less useful strain resistance characteristic.

根据本发明的进一步概念，可依Stewart平台或其功能性等效结构的形状建造单片式导电弹性体。According to a further concept of the present invention, a monolithic conductive elastomer can be built in the shape of a Stewart platform or its functional equivalent.

根据本发明的进一步概念，可依Stewart平台或其功能性等效结构的通用形状建造多段式导电弹性体。According to a further concept of the present invention, a multi-segment conductive elastomer can be constructed following the general shape of the Stewart platform or its functional equivalent.

替代地，使用习知(像非导电性)弹性体可变形结构以含有诸如电解溶液之类的介电流体或导电流体。该介电流体或导电流体可造成浸渍其内之复数个电极间的电关随着在该可变形结构出现形变下改变其内含有该流体之一个或多个空腔的形状而变化。在使用前述任意一种弹性体结构的例子里，起因于该弹性体一般而言较之金属或半导体应变计量器的材料具有更高的伸长度，故可使其计量系数比习知应变计量器的计量系数高很多。Alternatively, conventional (like non-conductive) elastomeric deformable structures are used to contain dielectric fluids such as electrolytic solutions or conductive fluids. The dielectric or conductive fluid causes the electrical relationship between a plurality of electrodes immersed therein to change as the deformable structure changes shape of the cavity or cavities containing the fluid therein. In the case of using any of the aforementioned elastomer structures, since the elastomer generally has a higher elongation than the material of the metal or semiconductor strain gauge, the gauge coefficient can be lower than that of the conventional strain gauge. The measurement coefficient is much higher.

根据本发明的进一步概念，可依Stewart平台或其功能性等效结构的形状建造一弹性体内含有导电或介电流体的单一空腔。较佳的是使这种空腔的器壁沿着数个正交方向旋绕，以允许在六个自由度上出现形变且在不同的轴中存在有相对的均匀坚实度。According to a further aspect of the invention, a single cavity containing a conductive or dielectric fluid within an elastomer can be constructed in the shape of a Stewart platform or its functional equivalent. It is preferred that the walls of such cavities be convoluted in several orthogonal directions to allow deformation in six degrees of freedom with relative uniform solidity in the different axes.

根据本发明的进一步概念，可依Stewart平台或其功能性等效结构的形状建造含有导电或介电流体的多个空腔。According to a further aspect of the invention, a plurality of cavities containing conductive or dielectric fluids can be constructed in the shape of a Stewart platform or a functionally equivalent structure thereof.

根据本发明的进一步概念，可设置一可变形的弹性体结构，其建造方式是使之连接有复数个单轴位移转换器。这种结构可以是非常低廉且有利于依简单的零反动力的方式装设有低廉的位移转换器。According to a further aspect of the invention, there may be provided a deformable elastomeric structure constructed in such a way that it is connected to a plurality of uniaxial displacement transducers. Such a construction can be very inexpensive and advantageously provides an inexpensive displacement transducer in a simple zero-reaction force manner.

根据本发明的进一步概念，可依Stewart平台或其功能性等效结构设置复数个空腔，其中可将各空腔连接到一压力转换器装置。According to a further aspect of the invention, a plurality of cavities can be provided according to a Stewart platform or a functional equivalent thereof, wherein each cavity can be connected to a pressure transducer device.

根据本发明的进一步概念，可于弹性体结构内设置复数个坚实器，其中坚实器将应变传递至如MEMS装置或应变计之转换器装置。According to a further concept of the present invention, a plurality of stiffeners may be provided within the elastomeric structure, wherein the stiffeners transmit strain to transducer means such as MEMS devices or strain gauges.

根据本发明的进一步概念，本发明中各种符合人类环境改造学的配置可结合视讯或其它非接触型位置感知器以取代此中揭示的感知器装置一起使用。例如，可使用如第35a到35g图所示之12轴摇杆以提供用于各操作员的调和接口，同时例如可藉由一个或更多个视讯照相机完成各控制把手位置及/或手部位置的量测。对某些藉由视讯量测以便解读具完全自由形式之手部姿势的策略应用而言这种配置是优良的。According to a further aspect of the present invention, various ergonomic configurations of the present invention can be used in conjunction with video or other non-contact position sensors instead of the sensor devices disclosed herein. For example, a 12-axis joystick as shown in Figures 35a to 35g may be used to provide a coordinated interface for each operator, while each control handle position and/or hand position may be accomplished, for example, by one or more video cameras. Measurement of position. This configuration is excellent for certain policy applications using video measurements to interpret hand gestures with a completely free form.

根据本发明的进一步概念，可依串联方式装设诸如那些包括复数个膨胀型空腔或发动机之类的多个发动式感知机台以产生具有很多自由度之蛇形机器装置。According to a further aspect of the invention, multiple sensory machines such as those comprising a plurality of expansion cavities or motors can be arranged in series to create a serpentine machine with many degrees of freedom.

可由很多上述多轴摇杆产生必需相对于x，y及z轴依非线性方式转换成位置及旋转偏转量的例如六个模拟信号。可使用很多替代方法及运算法则以从具有多轴摇杆的转换器导出具有必要应用性的信号。以下将要说明一种用以导出有用信号的通用方法的实例。Many of the multi-axis joysticks described above can generate, for example, six analog signals that must be converted in a non-linear fashion with respect to the x, y and z axes into position and rotational deflection. Many alternative methods and algorithms can be used to derive the signals with necessary applicability from transducers with multi-axis joysticks. An example of a general method for deriving useful signals will be described below.

该转换可以是多机台的，且基本上系由线性对角化及非线性标度及校正构成。可使用立方多项式转换以便达成从信号到输出的非线性映像模型。具有六个输入变量之完整立方多项式共有6*4^6＝24576个系数且其计算成本太高而变得不实用。更好的转换可由趋近式线性转换构成的以达成进乎对角的输出且跟着为上达总幂次为3(例如1，x，y，x^2，x*y，y^2，x^3，x^2*y，x*y^2，y^3)的各项施行多项式转换。这对线性对角化转换而言需要6*6＝36个系数且对非线性立方部分而言需要504个系数皆属计算上可行的。可在每一个乘积单元上完成使用6个系数的初始预转换以描述各单独感知器内的制程变化。可根据使用者的喜好明确标示出用以为输出进行重新缩放平移量、重新缩放旋转量及中心对准(皮重计量法)需要1+1+6＝8个系数。The transformation can be multi-stage and essentially consists of linear diagonalization and nonlinear scaling and correction. A cubic polynomial transformation can be used in order to achieve a non-linear mapping model from signal to output. A full cubic polynomial with six input variables has 6*4^6=24576 coefficients and is too computationally expensive to be practical. Better transformations can be constructed from approaching linear transformations to achieve nearly diagonal outputs followed by up to a total power of 3 (e.g. 1, x, y, x^2, x*y, y^2, Each item of x^3, x^2*y, x*y^2, y^3) performs polynomial conversion. This is computationally feasible requiring 6*6=36 coefficients for the linear diagonalization transformation and 504 coefficients for the nonlinear cubic part. An initial pre-conversion using 6 coefficients can be done on each product cell to describe the process variation within each individual perceptron. It can be clearly indicated that 1+1+6=8 coefficients are required for rescaling translation, rescaling rotation and centering (tare) for output according to user's preference.

对任何特定原型设计而言，可依下列方式计算出36个预转换系数以及504个非线性转换系数：可于6-立方网格线内的正、零及负的位置上对每一个轴进行取样而在中心及各极端位置上产生3^6＝729个取样点(例如中心、前方、前方向上、前方向左扭转及俯冲扭转等)。可使用最小平方解以套用这36个线性转换系数使输出达成最佳的对角化。使用这类系数可为样本数据进行线性转换以产生大概线性的数据组。然后再次使用例如线性最小平方解套用504个非线性转换系数。For any particular prototype design, 36 pre-conversion coefficients and 504 non-linear conversion coefficients can be calculated as follows: each axis at positive, zero and negative positions within the 6-cubic gridlines Sampling to generate 3̂6=729 sampling points at the center and each extreme position (eg, center, front, front up, front left twist, dive twist, etc.). The least square solution can be used to apply these 36 linear conversion coefficients to achieve the best diagonalization of the output. Use such coefficients to perform a linear transformation on the sample data to produce a roughly linear data set. The 504 non-linear conversion coefficients are then applied again using eg a linear least squares solution.

一旦已对设计原型进行校准，可在每一个乘积单元上使用相同的36个预转换系数以及相同的504个非线性转换系数，但是可在第一次使用或可能在贩卖之前完成对6个感知器缩放系数的一次校准。每一个使用者可依偏好明确指出例如单一平移灵敏度系数及单一旋转灵敏度系数。在初次使用且可能遍及每一次使用该装置时，可利用6个系数为输出进行中心对准(皮重计量法)以描述温度、定向或使用者之手的重量等之上的次要变化。Once the design prototype has been calibrated, the same 36 pre-conversion coefficients and the same 504 non-linear conversion coefficients can be used on each multiplying cell, but the 6 senses can be done before first use or possibly before sale A calibration of the scale factor of the sensor. Each user can specify, for example, a single translational sensitivity coefficient and a single rotational sensitivity coefficient according to preference. On initial use and possibly throughout each use of the device, the output can be centered (tared) with 6 coefficients to describe minor changes in temperature, orientation or weight of the user's hand, etc.

(四)附图的简单说明(4) A brief description of the drawings

第1a到1e图系用以显示一种根据本发明较佳实施例之一建造之六轴摇杆由产生之各式实体模型的示意图。Figures 1a to 1e are used to show a six-axis joystick constructed according to one of the preferred embodiments of the present invention by Schematic representation of the various solid models generated.

第1a图系在绘制有光径实例下用以显示该六轴摇杆之Z-轴的俯视平面图。Figure 1a is a top plan view showing the Z-axis of the six-axis joystick with an example light path drawn.

第1b图系用以显示该摇杆之主要组件的截面切开立视图。Figure 1b is a cutaway elevation view showing the main components of the rocker.

第1c图系用以显示该摇杆之主要组件的切开透视图。Figure 1c is a cutaway perspective view showing the main components of the rocker.

第1d图系用以显示该摇杆之立视图。Figure 1d is used to show the vertical view of the rocker.

第1e图系用以显示该摇杆之各凸角组件的剖面图。Figure 1e is a cross-sectional view showing the lobes of the rocker.

第2图系在绘制有内部反射性刻面下用以显示该摇杆之主动式控制把手的透视图。Figure 2 is a perspective view showing the active control handle of the rocker with internal reflective facets painted on it.

第3图系在结合某一型式之相关电气策略下用以显示该六轴摇杆之圆柱状突起的示意图。Fig. 3 is a schematic diagram showing the cylindrical protrusion of the six-axis rocker in combination with a certain type of related electrical strategy.

第4图系在显示有曲度面镜刻面功能下显示该六轴摇杆之圆柱状突起的示意图。Fig. 4 is a schematic diagram showing the cylindrical protrusion of the six-axis rocker under the function of displaying the curved mirror facet.

第5图系在结合了显示有用以施行触感装置及截断式面镜刻面之对应电气策略下用以显示一种根据本发明较佳实施例之圆柱状突起的示意图。FIG. 5 is a schematic diagram showing a cylindrical protrusion according to a preferred embodiment of the present invention, in combination with a corresponding electrical strategy for implementing haptic devices and truncated mirror facets.

第6图系用以显示一种根据本发明较佳实施例之积体式光电发射器/光电侦测器套装组合的透视图。FIG. 6 is a perspective view showing an integrated photoelectric emitter/photodetector package according to a preferred embodiment of the present invention.

第7图系在结合有对应电气策略下用以显示一种根据本发明另一实施例之六轴摇杆内之圆柱状突起的示意图。FIG. 7 is a schematic diagram for showing a cylindrical protrusion in a six-axis joystick according to another embodiment of the present invention combined with a corresponding electrical strategy.

第8a到8e图系用以显示一种根据本发明另一实施例之建造之六轴摇杆由

Figure GSB00000038557800241
产生之各式实体模型的示意图。Figures 8a to 8e are used to show a six-axis joystick constructed according to another embodiment of the present invention by
Figure GSB00000038557800241
Schematic representation of the various solid models generated.

第8a图系在绘制有光径实例下用以显示该六轴摇杆之Z-轴的俯视平面图。Figure 8a is a top plan view showing the Z-axis of the six-axis joystick with an example light path drawn.

第8b图系用以显示该摇杆之主要组件的截面立视图。Figure 8b is a cross-sectional elevation view showing the main components of the rocker.

第8c图系用以显示该摇杆之主要组件的切开透视图。Figure 8c is a cutaway perspective view showing the main components of the rocker.

第8d图系用以显示该摇杆之立视图。Figure 8d is used to show the vertical view of the rocker.

第8e图系用以显示该摇杆之某些凸角组件的剖面图。Figure 8e is a cross-sectional view showing some of the lobe assemblies of the rocker.

第9图系在绘制有内部反射性刻面下用以显示该摇杆之主动式控制把手的透视图。Fig. 9 is a perspective view showing the active control handle of the rocker with internal reflective facets painted on it.

第10a图系用以显示一种根据本发明某一实施例之截面图示，其特色为一传统「摇杆」式主动式控制把手、一已强化运动范围以及一保护性压力补偿式风箱。Figure 10a shows a cross-sectional representation of an embodiment according to the present invention featuring a traditional "rocker" style active control handle, an enhanced range of motion, and a protective pressure compensating bellows.

第10b图系用以显示第10a图之实施例的另一截面图示。Figure 10b is another cross-sectional view showing the embodiment of Figure 10a.

第11a，11b，11c和11d图分别是用以显示一种根据本发明某一实施例之磁通感知器实例之平面、截面、透视及剖面图。Figures 11a, 11b, 11c and 11d are respectively plan, cross-sectional, perspective and cross-sectional views showing an example of a magnetic flux sensor according to an embodiment of the present invention.

第12图系用以显示一种根据本发明某一实施例之磁性组件的平面图。FIG. 12 is a plan view showing a magnetic assembly according to an embodiment of the present invention.

第13图系用以显示一种根据本发明某一实施例之组合式磁性组件的平面图。FIG. 13 is a plan view showing a combined magnetic assembly according to an embodiment of the present invention.

第13a图系用以显示一种根据本发明某一实施例之磁性组件的截面立视图。FIG. 13a is a cross-sectional elevation view of a magnetic assembly according to an embodiment of the present invention.

第14图系用以显示一种根据本发明某一实施例之印刷电路板的详细图。FIG. 14 is a detailed view showing a printed circuit board according to an embodiment of the present invention.

第15a图系用以显示一种根据本发明某一实施例之弹性体的截面图。Fig. 15a is a cross-sectional view showing an elastic body according to an embodiment of the present invention.

第15b图系用以显示如第15a图所示之实施例的剖面图。Fig. 15b is a cross-sectional view showing the embodiment shown in Fig. 15a.

第15c图系用以显示如第15a图所示之实施例的另一剖面图。Fig. 15c is another cross-sectional view showing the embodiment shown in Fig. 15a.

第15d图系用以显示如第15a图所示之实施例的立视图。Figure 15d is an elevational view of the embodiment shown in Figure 15a.

第15e图系用以显示一种类似于第15a图的截面图。Figure 15e is used to show a cross-sectional view similar to Figure 15a.

第16图系用以显示一种根据本发明另一实施例之弹性体的截面图。Fig. 16 is a sectional view showing an elastic body according to another embodiment of the present invention.

第17图系用以显示一种根据本发明某一实施例之弹性体的代表性等效电路。Fig. 17 is used to show a representative equivalent circuit of an elastomer according to an embodiment of the present invention.

第18a图系用以显示一种根据本发明又一实施例之弹性体感知器部分的立视图。Fig. 18a is an elevational view showing part of an elastomeric sensor according to another embodiment of the present invention.

第18b图系用以显示如第18a图所示之感知器组件的另一立视图。Figure 18b is another elevational view showing the sensor assembly shown in Figure 18a.

第18c图系用以显示如第18a图所示之感知器组件的平面图。Figure 18c is a plan view showing the sensor assembly as shown in Figure 18a.

第18d图系用以显示如第18a图所示之感知器组件的透视图。Figure 18d is a perspective view showing the sensor assembly as shown in Figure 18a.

第18e图系用以显示如第18a图所示之感知器组件的代表性等效电路。Figure 18e is used to show a representative equivalent circuit of the perceptron assembly shown in Figure 18a.

第19a，19b，19c和19d图分别系用以显示一种根据本发明又一实施例之弹性体感知器总成的透视、立视、另一立视及平面图。Figures 19a, 19b, 19c and 19d are respectively used to show a perspective view, a vertical view, another vertical view and a plan view of an elastomer sensor assembly according to another embodiment of the present invention.

第19e图系用以显示如第19a，19b，19c和19d图所示之弹性体感知器总成的代表性等效电路。Figure 19e is used to show a representative equivalent circuit of the elastomeric sensor assembly shown in Figures 19a, 19b, 19c and 19d.

第20a和20b图系用以显示根据本发明某一实施例中数种填充有电解质之弹性体之一平面及截面立视图。Figures 20a and 20b are plan and cross-sectional elevations showing several electrolyte-filled elastomers according to one embodiment of the present invention.

第21a，21d，21e和21f图系分别用以显示一种根据本发明另一实施例中填充有电解质之弹性体总成的平面、立视、另一立视及透视图。Figures 21a, 21d, 21e and 21f are respectively used to show a plan view, an elevation view, another elevation view and a perspective view of an elastomer assembly filled with electrolyte according to another embodiment of the present invention.

第21b图系用以显示如第21a，21d，21e和21f图所示之转换器总成中单一转换器总成的示意图。Figure 21b is a schematic diagram showing a single converter assembly in the converter assemblies shown in Figures 21a, 21d, 21e and 21f.

第21c图系沿着第21b图之A-A线段撷取的截面图。Figure 21c is a cross-sectional view taken along line A-A of Figure 21b.

第22图系用以显示于制造及组合之代表各阶段期间沿着一种根据本发明又一实施例中填充有电解质之弹性体之六角形路径切开的截面图。FIG. 22 is a cross-sectional view taken along a hexagonal path of an electrolyte-filled elastomer in accordance with yet another embodiment of the present invention during representative stages of fabrication and assembly.

第23图系用以显示沿着一种根据本发明又一实施例之装置中填充有电解质之弹性体上六角形路径切开的局部截面图。FIG. 23 is a partial cross-sectional view showing a hexagonal path cut along an electrolyte-filled elastomer in a device according to yet another embodiment of the present invention.

第24图系用以显示沿着一种根据本发明又一实施例之装置中填充有电解质之弹性体上六角形路径切开的局部截面图。FIG. 24 is a partial cross-sectional view showing a hexagonal path cut along an electrolyte-filled elastomer in a device according to yet another embodiment of the present invention.

第25a图系用以显示一种根据本发明实施例之装置中使用由各坚实组件及力量感知器构成组合之弹性体的正视图。Figure 25a is a front view showing a device according to an embodiment of the present invention using an elastic body composed of solid components and force sensors.

第25b图系用以显示另一种根据本发明实施例之装置中使用由各坚实组件及力量感知器构成组合之弹性体的正视图。Figure 25b is a front view showing another device according to an embodiment of the present invention using an elastic body composed of solid components and force sensors.

第25c图系用以显示多种可用坚实器配置之一的平面图。Figure 25c is a plan view showing one of the many available firmer configurations.

第26图系用以显示一种根据本发明实施例之装置中使用由各坚实装置及压力感知器装置构成组合之弹性体上一个由多轴感知器部分构成之组件的局部截面图。Fig. 26 is a partial cross-sectional view showing an assembly consisting of a multi-axis sensor part on an elastic body composed of solid means and pressure sensor means in a device according to an embodiment of the present invention.

第27图系用以显示一种根据本发明实施例之装置中结合具可变形弹性体结构而使用之分离式单轴位移感知器的截面图。FIG. 27 is a cross-sectional view showing a separate uniaxial displacement sensor used in combination with a deformable elastic body structure in a device according to an embodiment of the present invention.

第28图系用以显示一种根据本发明另一实施例之装置中结合具可变形弹性体结构而使用之分离式单轴位移感知器的代表性局部截面图。FIG. 28 is a representative partial cross-sectional view showing a separate uniaxial displacement sensor used in combination with a deformable elastic body structure in a device according to another embodiment of the present invention.

第29图系用以显示沿着一种根据本发明又一实施例之装置中结合具可变形弹性体结构而使用之分离式单轴位移感知器的代表性局部截面图。FIG. 29 is a representative partial cross-sectional view showing a separate uniaxial displacement sensor used in conjunction with a deformable elastomeric structure in a device according to yet another embodiment of the present invention.

第30图系用以显示沿着一种根据本发明又一实施例之装置中使用埋藏于可变形弹性体结构内具可伸展线圈之可变电感上感知器部分的代表性局部截面图。FIG. 30 is a representative partial cross-sectional view showing a sensor portion along a variable inductance with a stretchable coil embedded in a deformable elastomeric structure in a device according to yet another embodiment of the present invention.

第31图系用以显示沿着一种根据本发明又一实施例之装置中结合可在力量或位置反馈下内部压力而变形之复数个空腔而使用埋藏于可变形弹性体结构内具可伸展线圈之可变电感上感知器部分的代表性局部截面图。Fig. 31 is used to illustrate the use of deformable materials embedded in a deformable elastomeric structure along a device according to yet another embodiment of the present invention in combination with a plurality of cavities that can be deformed under force or position feedback by internal pressure. Representative partial cross-sectional view of the sensor portion on the variable inductance of the stretching coil.

第32a，32b，32c和32d图分别系用以显示一种根据本发明实施例之装置的截面正视图、局部平面图、局部截面正视图及透视图，其特色为填充有电解质之弹性体的可变形感知器、填充有凝胶之腕靠及积体式数据输入键盘。Figures 32a, 32b, 32c and 32d are used to show a cross-sectional front view, a partial plan view, a partial cross-sectional front view and a perspective view, respectively, of a device according to an embodiment of the present invention, which features an elastomer filled with electrolyte. Warp sensor, gel-filled wrist rest and integrated data entry keypad.

第33图系用以显示一种根据本发明实施例之双手式游戏控制器，其中包括具有用以连接该游戏控制器之左侧及右侧控制把手部分之多轴感知器装置的代表性示意图。Figure 33 is a representative schematic diagram showing a two-handed game controller according to an embodiment of the present invention including a multi-axis sensor arrangement for connecting the left and right grip portions of the game controller .

第34图系用以显示一种根据本发明实施例之手持式装置的示意图。FIG. 34 is a schematic diagram showing a handheld device according to an embodiment of the present invention.

第35a，35b，35c，35d，35e，35f，35g和35h图系用以显示一种根据本发明实施例之装置模型的照片，其中系将一直径大概1.5英时而具有例如六个自由度之指尖型控制把手装设到具有例如额外六个自由度之手持式控制把手上。Figures 35a, 35b, 35c, 35d, 35e, 35f, 35g, and 35h are photographs showing a model of an apparatus according to an embodiment of the present invention in which a device approximately 1.5 inches in diameter has, for example, six degrees of freedom Fingertip grips are attached to handheld grips with, for example, an additional six degrees of freedom.

第36a和36b图系用以显示一种根据本发明实施例之装置中除了该指尖操作型控制把手是一直径大概1英时的球体之外类似于如第35a到35h图所示之模型的照片。Figures 36a and 36b are used to show a device in accordance with an embodiment of the invention similar to that shown in Figures 35a to 35h except that the fingertip-operated control knob is a sphere approximately 1 inch in diameter Photo.

第37a和37b图系用以显示一种根据本发明实施例之装置的照片，其中系将一指尖型控制把手装设到固定型手部安定式控制把手且该指尖操作型控制把手是一直径大概1.5英时的球体。Figures 37a and 37b are photographs showing a device according to an embodiment of the invention in which a fingertip-type control handle is mounted to a fixed hand-stabilized control handle and the fingertip-operated control handle is A sphere approximately 1.5 inches in diameter.

第38a，38b，38c和38d图系用以显示一种根据本发明实施例之装置中除了该指尖操作型控制把手是一直径大概1Figures 38a, 38b, 38c and 38d are used to show a device according to an embodiment of the present invention except that the fingertip-operated control handle is a diameter of about 1

英时的球体之外类似于如第37a和37b图所示之模型的照片。Ing's outside of the sphere resembles photographs of the model shown in Figures 37a and 37b.

第39图系用以显示一种对应于根据本发明实施例之弹性体桥接电路的电路图。FIG. 39 is used to show a circuit diagram corresponding to an elastomer bridge circuit according to an embodiment of the present invention.

第40a图系用以显示一种根据本发明实施例之弹性体感知组件的透视图。Fig. 40a is a perspective view showing an elastomer sensory component according to an embodiment of the present invention.

第40b图系用以显示如第40a图所示之感知组件的截面图。Figure 40b is a cross-sectional view showing the sensing element shown in Figure 40a.

第41图系用以显示一种根据本发明实施例结合有复数个导电型弹性体抗张构件之装置的正视图。Fig. 41 is a front view showing a device incorporating a plurality of conductive elastomeric tensile members according to an embodiment of the present invention.

第42图系用以显示一种根据本发明某一实施例之装置的代表性示意图。Figure 42 is a representative schematic diagram illustrating an apparatus according to an embodiment of the present invention.

第43图系用以显示一种根据本发明另一实施例之装置的代表性示意图。Fig. 43 is a representative schematic diagram showing an apparatus according to another embodiment of the present invention.

第44图系用以显示一种根据本发明某一实施例之可变形弹性体感知组件内具有Stewart平台几乎形状而填充有电解质之空腔的示意图。FIG. 44 is a schematic diagram showing a hollow cavity filled with an electrolyte having a Stewart platform approximate shape in a deformable elastomer sensing element according to an embodiment of the present invention.

第45图系用以显示一种对应于如第44图所示实施例之装置的电路图。FIG. 45 is used to show a circuit diagram of a device corresponding to the embodiment shown in FIG. 44.

第46图系用以显示一种根据本发明某一实施例之装置的截面图。Fig. 46 is a cross-sectional view showing a device according to an embodiment of the present invention.

第47图系用以显示来自根据本发明某一实施例之装置内三个相位激发信号与输出信号间之解释用关系的示意图。Fig. 47 is a schematic diagram showing the explanatory relationship between excitation signals and output signals from three phases in a device according to an embodiment of the present invention.

第48图系用以显示一种可结合如第46图所示之实施例使用之印刷电路板配置的示意图。FIG. 48 is a schematic diagram showing a printed circuit board configuration that may be used in conjunction with the embodiment shown in FIG. 46 .

第49a图系用以显示一种根据本发明某一实施例之装置的平面图，其中系藉由凝胶衬垫型腕靠以稳定六轴摇杆的基座部分。Fig. 49a is a plan view showing a device according to an embodiment of the present invention, wherein the base portion of the six-axis rocker is stabilized by a gel-cushioned wrist rest.

第49b图系用以显示一种如第49a图所示之实施例的截面正视图。Figure 49b is a cross-sectional front view showing an embodiment as shown in Figure 49a.

第49c图系用以显示一种如第49a图所示之实施例的剖面图。Fig. 49c is a cross-sectional view showing an embodiment as shown in Fig. 49a.

第49d图系用以显示一种如第49a图所示之实施例中一部分的透视图。Figure 49d is a perspective view showing a portion of the embodiment shown in Figure 49a.

第50a图系用以显示一种根据本发明某一实施例之装置的切开图，其特色为具有一单件式光学位置转换器。Figure 50a is a cutaway view of a device according to an embodiment of the invention, featuring a single-piece optical position transducer.

第50b图系用以显示一种如第50a图所示之实施例的切开图。Figure 50b is a cutaway view showing an embodiment as shown in Figure 50a.

第50c图系用以显示一种如第50a图所示之单件式光学位置转换器的透视图。Figure 50c is a perspective view showing a one-piece optical position transducer as shown in Figure 50a.

第51a图系用以显示一种附加在三轴鼠标上之手指操作型摇杆的透视图。Figure 51a is a perspective view showing a finger-operated joystick attached to a three-axis mouse.

第51b图系用以显示一种如第51a图所示之实施例的底面图。Figure 51b is used to show a bottom view of the embodiment shown in Figure 51a.

第51c图系用以显示一种如第51a图所示之实施例的末端图。Figure 51c is used to show an end view of the embodiment shown in Figure 51a.

第51d图系用以显示一种如第51a图所示之实施例的侧图。Figure 51d is a side view showing an embodiment as shown in Figure 51a.

第51e图系用以显示一种如第51a图所示之实施例的俯图。Fig. 51e is a top view showing an embodiment as shown in Fig. 51a.

第51f和51g图系用以显示一种如第51a图所示之实施例的透视图。Figures 51f and 51g are perspective views showing an embodiment as shown in Figure 51a.

第52图系用以显示一种根据本发明某一实施例中包含配备有感知器以利进行坐标转换以便利用摇杆控制Stewart平台式转接器之装填器的透视图。Fig. 52 is a perspective view showing a loader including a sensor for coordinate transformation to control a Stewart platform adapter with a joystick, according to an embodiment of the present invention.

第53图系用以显示一种如第52图所示实施例之控制策略实例的示意图。FIG. 53 is a schematic diagram showing an example of a control strategy of the embodiment shown in FIG. 52.

第54a图系用以显示一种单件式转换器的截面图。Figure 54a is a cross-sectional view showing a one-piece converter.

第54b图系用以显示一种如第54a图所示之实施例的局部边示意图。Fig. 54b is a partial side view showing the embodiment shown in Fig. 54a.

第55图系用以显示一种根据本发明某一概念之摇杆的截面正视图。Fig. 55 is a cross-sectional front view showing a rocker according to a certain concept of the present invention.

第56a图系用以显示一种根据本发明某一实施例中包含两个相对于转换组件依对称方式放置之两个轴向弹簧之摇杆的截面图。Figure 56a is a cross-sectional view of a rocker comprising two axial springs positioned symmetrically with respect to the transition assembly in accordance with an embodiment of the present invention.

第56b图显示的是一种反射图案的实例。Figure 56b shows an example of a reflective pattern.

第56c图显示的是一种反射图案的实例。Figure 56c shows an example of a reflective pattern.

第57图系用以显示一种用以使转换器装置之零状态的角度及轴向与反射图案对齐之实例的示意图。Fig. 57 is a schematic diagram showing an example for aligning the angle and axis of the zero state of the converter device with the reflection pattern.

第58图系用以显示一种根据本发明某一概念所用弹簧之应力分析实例的示意图。Fig. 58 is a schematic diagram showing an example of stress analysis of a spring used in accordance with a certain concept of the present invention.

第59图系用以显示另一种根据本发明某一概念所用弹簧之应力分析实例的示意图。Fig. 59 is a schematic diagram showing another example of stress analysis of a spring used in accordance with a certain concept of the present invention.

第60图系用以显示一种根据本发明某一实施例具有单一弹性组件之弹簧实例的示意图。FIG. 60 is a schematic view showing an example of a spring with a single elastic component according to an embodiment of the present invention.

第61a和61b图系用以显示一种入射到根据本发明某一实施例装置上之仿真影像的示意图。Figures 61a and 61b are schematic diagrams showing a simulated image incident on a device according to an embodiment of the present invention.

(五)实施方式(5) Implementation method

一种多轴输入转换器装置可包括：一具有至少五个输入端的组件，可相对于至少五个参考坐标系统进行输入；一反射组件，系用以响应来自能放射出均等地入射到反射组件上的辐射源；以及至少一个反射辐射侦测器，系用以响应来自该反射组件的辐射；一最终可使来自该辐射源的辐射入射其上的比较不反射组件；其中该比较不反射组件会与该反射组件形成至少一个陡峭边界而存在有从反射性到比较不反射性的剧烈变化。此中广义地使用「反射」一词以包含该辐射的折射作用。进一步地，其中该至少一个陡峭边界包括至少两个陡峭边界。更进一步地，其中该至少两个陡峭边界包括至少两个基本上相互正交的陡峭边界；或者其中该至少两个陡峭边界系呈曲折配置。参照第1a(平面图)、1b(截面立视图)、1c(切开透视图)、1d(立视图)及1e(剖面图)图，其中显示的是一种根据本发明较佳实施例之六轴摇杆。主动式控制把手1可结合有反射性刻面2a、2b、2c、2d、2e及2f。可使各反射性刻面或反射器对齐使得每一个反射性刻面或反射器都能将来自光源或辐射源4(可以是发光二极管)的光反射到落在某一特定位置上的光电侦测组件或其它反射辐射感知器。该光电侦测组件可以是光电二极管、光电晶体管、光电电阻器或其它适合的光侦测装置，或是用以将光引导到另一位置上之诸如ASIC(应用特有之集成电路芯片)之类侦测装置上的光纤端口。可藉由诸如线圈型弹簧10之类恢复组件将该主动式控制把手1支持于定位，该线圈型弹簧10可依有角度方式由凹陷11定位于该主动式控制把手内以及由凹陷12定位于该基座3内。可使用诸如光挡板6之类装置以防止各侦测器5a、5b、5c、5d、5e及5f受到光源4的直接照射。也可建造光挡板6使之可于例如焊接期间辅助该光源4且或许可辅助各光电侦测器5a、5b、5c、5d、5e及5f进行定位及定向。可使用该光挡板6以藉由螺钉7保持印刷电路板13。可设置诸如螺钉8或插针之类保持装置以限制该控制把手1的历程，或许使得该控制把手1的最大历程维持落在诸如于该控制把手1内结合有各反射器组件之光电侦测器5a、5b、5c、5d、5e及5f以及光源4之类光学组件的量测范围内，且或许使得该最大历程维持落在诸如弹簧10之类恢复装置的弹性范围之内且落在各可动与静止组件之间的各种机械净空之内。可藉由诸如涂层或轴套之类的静摩擦减低组件及/或能量吸收组件使该保持装置8与相关插座9之间的接触特征最佳化。A multi-axis input converter device may include: an assembly having at least five inputs for input relative to at least five reference coordinate systems; and at least one reflective radiation detector responsive to radiation from the reflective component; a relatively non-reflective component that ultimately allows radiation from the radiation source to be incident thereon; wherein the relatively non-reflective component There will be at least one steep boundary with the reflective component with a sharp change from reflective to less reflective. The term "reflection" is used broadly herein to include refraction of such radiation. Further, wherein the at least one steep boundary includes at least two steep boundaries. Still further, wherein the at least two steep boundaries include at least two mutually orthogonal steep boundaries; or wherein the at least two steep boundaries are in a meandering configuration. Referring to Figures 1a (plan view), 1b (sectional elevation view), 1c (cut perspective view), 1d (elevation view) and 1e (section view), which show a sixth preferred embodiment according to the present invention axis rocker. The active control handle 1 may incorporate reflective facets 2a, 2b, 2c, 2d, 2e and 2f. The reflective facets or reflectors may be aligned such that each reflective facet or reflector reflects light from a light source or radiation source 4 (which may be a light emitting diode) to a photodetector falling on a particular location. measuring components or other reflective radiation sensors. The photodetection element can be a photodiode, phototransistor, photoresistor or other suitable photodetection device, or an ASIC (Application Specific Integrated Circuit Chip) for directing light to another location Detect the fiber port on the device. The active control handle 1 can be supported in position by means of restoring means such as a coil spring 10 which can be positioned angularly in the active control handle by the recess 11 and by the recess 12. Inside the base 3. Devices such as light baffles 6 may be used to prevent the individual detectors 5 a , 5 b , 5 c , 5 d , 5 e and 5 f from being directly illuminated by the light source 4 . The light barrier 6 can also be constructed so that it can assist the light source 4 and possibly the positioning and orientation of the photodetectors 5a, 5b, 5c, 5d, 5e and 5f, eg during welding. The light barrier 6 can be used to hold the printed circuit board 13 by means of screws 7 . Retaining means such as screws 8 or pins can be provided to limit the travel of the control handle 1, perhaps allowing the maximum travel of the control handle 1 to remain within a range such as a photoelectric detection system incorporating reflector assemblies within the control handle 1. 5a, 5b, 5c, 5d, 5e, and 5f and optical components such as light source 4 within the measurement range, and perhaps make the maximum course remain within the elastic range of the recovery device such as spring 10 and fall within each Within various mechanical clearances between movable and stationary components. The contact characteristics between the holding device 8 and the associated socket 9 can be optimized by means of static friction reducing components such as coatings or bushings and/or energy absorbing components.

参照第1a和1d图，光径14可以不落在径向平面内而是取代地跟随着可藉由各种面镜刻面的位置及定向受到控制的路径。藉由这种配置，可由该光径到六个光电侦测器的长度及对齐独特地定义出该主动式控制把手在x，y，z，Θx，Θy及Θz之类自由度上的位置。一般而言，亮度会随着有效光径离的平方反比而改变。可在任意面镜刻面沿着该面镜刻面表面之铅垂轴的运动上使亮度相对于面镜刻面位置的灵敏度变得最大。垂直于该面镜刻面的轴可包括一虚拟的八面体式六角舱盖或「Stewart平台」。沿着垂直于第一轴之任意轴的运动不致对光径长度产生任何效应。极端的运动当然会使面镜刻面完全移出该光径，但是这种极端的运动是不必要的且事实上可由机械阻挡器加以防止。绕垂直于该面镜刻面之轴的角度运动不致对光径长度产生任何效应。绕任何落在该面镜片段平面内之轴的角度运动可在仅忽略光径距离上的二阶效应下只于该光径的反射点内造成横向平移。Referring to Figures 1a and 1d, the optical path 14 may not lie in a radial plane but instead follow a path that may be controlled by the position and orientation of the various mirror facets. With this configuration, the length and alignment of the optical path to the six photodetectors uniquely define the position of the active control handle in the degrees of freedom x, y, z, Θx, Θy, and Θz. In general, brightness varies with the inverse square of the effective light path distance. The sensitivity of brightness with respect to mirror facet position can be maximized at any mirror facet movement along the vertical axis of the mirror facet surface. The axis perpendicular to the mirror facets may comprise a virtual octahedral hex hatch or "Stewart platform". Movement along any axis perpendicular to the first axis has no effect on the optical path length. Extreme movements would of course move the mirror facets completely out of the optical path, but such extreme movements are unnecessary and can in fact be prevented by mechanical stops. Angular motion about an axis perpendicular to the mirror facets has no effect on the optical path length. Angular motion about any axis falling in the plane of the mirror segment results in a lateral translation only in the reflection point of the optical path while only ignoring second order effects on the optical path distance.

可藉由光源的相关透镜组件、光电侦测器及/或藉由各反射性刻面的曲度使对应于该主动式控制把手之归零位置的有效光径距离最佳化为设计变量。例如，可在比对应于实体光径的距离更靠近的位置上产生光源的虚拟影像以便在具有给定变化的面镜刻面运动下获致更大的亮度变化。也可藉由使用各透镜组件以调整因光源照射所产生的空间分布以及光电侦测器在光灵敏度上的空间分布。同时可有利地使用各发射器、面镜及侦测器的对齐变化以产生代表各面镜刻面位置的光电侦测器信号。假如来自发射器的任何特定光径偏落于面镜边缘或侦测器总成边缘上，则该光径与边缘的任何相对运动可在所量测的光强度上产生明显的变化。The effective optical path distance corresponding to the zero position of the active control knob can be optimized as a design variable by the associated lens assembly of the light source, the photodetector and/or by the curvature of the reflective facets. For example, a virtual image of a light source can be created at a closer location than the distance corresponding to the physical light path to achieve a greater change in brightness for a given change in mirror facet motion. The spatial distribution of the illumination by the light source and the spatial distribution of the light sensitivity of the photodetector can also be adjusted by using each lens assembly. At the same time, variations in the alignment of the emitters, mirrors and detectors can be advantageously used to generate photodetector signals representative of the position of the facets of each mirror. If any particular light path from the emitter falls on either the edge of the mirror or the edge of the detector assembly, any relative movement of that path to the edge can produce a noticeable change in the measured light intensity.

可将前述讨论的功能及几何形状均等地应用于指定实施例上，其中可藉由第1图实施例中标示为4的单一光电侦测器依序量测出如第1图所示之复数个光发射器5a、5b、5c、5d、5e及5f的光强度。该实施例中例如可由饼图案圈出各光发射器以使吾人能够量测出各单独光强度且因此量测出其光径距离。可使用单一光电侦测器以利单一模拟对数字转换器的使用并依与复数个光发射器之照射同步的方式施行时间倍增作用。The functions and geometries discussed above can be equally applied to a given embodiment, wherein the complex numbers shown in Fig. 1 can be sequentially measured by a single photodetector labeled 4 in the embodiment of Fig. 1 The light intensity of each light emitter 5a, 5b, 5c, 5d, 5e and 5f. In this embodiment, for example, each light emitter can be circled by a pie pattern so that one can measure the individual light intensity and thus its optical path distance. A single photodetector can be used to facilitate the use of a single analog-to-digital converter and perform time multiplication in a manner synchronized with the illumination of multiple light emitters.

参照第3图，其中显示的是结合有多种可能的替代电气装置之一圆柱坐标投影图示。如第3图所示之光学组件可以是如第1a、1b、1c、1d、1e及1f图所示的相同光学组件。可依实体方式使各光电侦测器5a、5b、5c、5d、5e及5f围绕光电发射器4分布成如第3图右手边所示的六角形数组，但是可在简洁目的下将之直接定位在每一个光电侦测器后方。面镜刻面2a可将来自光电发射器4的光反射到光电侦测器5b上。面镜刻面2b可将来自光电发射器4的光反射到光电侦测器5a上。可针对总共六个光径重复这种图案，并以其长度定义出主动式控制把手的准确位置及定向以及其在六个自由度上的面镜刻面。如图所示依电气方式将线圈型弹簧10(实体上用以支撑如第3图左手边所示之主动式控制把手1)连接到控制把手1及触控式侦测电路15上。假如必要的话该控制把手1可结合有一分离的电容触控式切换组件，或是使用诸如面镜刻面2a上的涂层之类面镜涂层以完成该电容触控式切换功能。此中使用「主动式控制把手」一词意指由多轴输入装置上使用者相对于其参考坐标系统抓住并移动的部分。如图所示，系将各光电侦测器5a、5b、5c、5d、5e和5f的输出端连接到各放大器18a、18b、18c、18d、18e和18f及电阻器19a、19b、19c、19d、19e和19f上。如图所示，系将各放大器的输出端连接到一可程序规划的接口控制器

Figure GSB00000038557800311
16上且各信号可由此装置走向诸如计算机或机器人之类的信号接收装置17上。如图所示，六个自由度上的轴系标示于第3图顶部。Referring to Figure 3, there is shown a cylindrical coordinate projection diagram incorporating one of several possible alternative electrical arrangements. The optical component shown in Figure 3 may be the same optical component as shown in Figures 1a, 1b, 1c, 1d, 1e and 1f. The photodetectors 5a, 5b, 5c, 5d, 5e and 5f can be physically distributed around the phototransmitter 4 into a hexagonal array as shown on the right hand side of Fig. 3, but it can be directly Positioned behind each photodetector. The mirror facet 2a can reflect the light from the photoemitter 4 onto the photodetector 5b. The mirror facet 2b can reflect the light from the photoemitter 4 onto the photodetector 5a. This pattern can be repeated for a total of six optical paths, and its length defines the exact position and orientation of the active control handle and its mirror facets in six degrees of freedom. As shown in the figure, the coil spring 10 (physically used to support the active control handle 1 shown on the left hand side of FIG. 3 ) is electrically connected to the control handle 1 and the touch detection circuit 15 . If necessary, the control handle 1 can be combined with a separate capacitive touch switching component, or a mirror coating such as the coating on the mirror facet 2a can be used to complete the capacitive touch switching function. The term "active grip" is used herein to mean the part of a multi-axis input device that is grasped and moved by a user relative to its reference coordinate system. As shown, the output terminals of the respective photodetectors 5a, 5b, 5c, 5d, 5e and 5f are connected to respective amplifiers 18a, 18b, 18c, 18d, 18e and 18f and resistors 19a, 19b, 19c, On 19d, 19e and 19f. As shown, the output of each amplifier is connected to a programmable interface controller
Figure GSB00000038557800311
16 and each signal can go from this device to a signal receiving device 17 such as a computer or a robot. As shown, the axis system in the six degrees of freedom is marked at the top of Figure 3.

现在参照第4图，虽则第1a、1b、1c、1d、1e、2及3图中显示的是平面式面镜刻面，然而可有利地使用如第4图所示之曲面式刻面以便在特殊应用上获致更大的灵敏度及分辨率。可藉由面镜刻面2a使来自发射器4(隐藏于第4图的正面图示中)的光聚焦以在离开光电侦测器5b一距离L处形成该发射器4的影像。为求简洁，并未于第4图中标示出该发射器4与侦测器5a之间的光。Referring now to Figure 4, although planar mirror facets are shown in Figures 1a, 1b, 1c, 1d, 1e, 2, and 3, curved facets as shown in Figure 4 may be advantageously used in order to Achieve greater sensitivity and resolution in special applications. The light from the emitter 4 (hidden in the front view in Fig. 4) can be focused by the mirror facet 2a to form an image of the emitter 4 at a distance L from the photodetector 5b. For simplicity, the light between the emitter 4 and the detector 5a is not shown in FIG. 4 .

现在参照第5图，其中显示的是结合有截断式面镜刻面2a、2b、2c、2d、2e及2f的面镜总成及主动式控制把手1。光从发射器4通过路径14撞击各面镜刻面2a、2b、2c、2d、2e及2f边缘。撞击到各面镜刻面的光可抵达各光电侦测器5a、5b、5c、5d、5e和5f。撞击到光吸收表面41的一部分则无法抵达这类侦测器。因此这种配置对各面镜刻面2a、2b、2c、2d、2e及2f边缘的相对运动而言是灵敏的。Referring now to Figure 5, there is shown a mirror assembly and active control handle 1 incorporating truncated mirror facets 2a, 2b, 2c, 2d, 2e and 2f. Light passes from the emitter 4 through the path 14 and strikes the edge of each mirror facet 2a, 2b, 2c, 2d, 2e and 2f. Light impinging on each mirror facet can reach each photodetector 5a, 5b, 5c, 5d, 5e and 5f. Parts that strike the light-absorbing surface 41 cannot reach such detectors. This configuration is therefore sensitive to relative movements of the edges of the respective mirror facets 2a, 2b, 2c, 2d, 2e and 2f.

现在参照第6图，其中显示的单件式光电转换器套装组合系包括：一外盒44；光电侦测器42a、42b、42c、42d、42e及42f；一光电发射器43；及电气连接结构45。这种单件式转换器会比印刷电路板装设式转换器更强固，且因此不致起因于制造期间的处理作业或是起因于例如掉落地板上的高g力量出现光学失准的问题。也可有利地使用这种单件式套装组合以进行研磨冲洗并因此移除了当作多数分离式光电转换器组件之标准制造器件的各准直透镜。虽则第6图中未标示，然而也可建造这种单件式套装组合以支持用以支撑该主动式控制把手的弹簧。Referring now to Figure 6, the one-piece photoelectric converter assembly shown therein includes: an outer box 44; photodetectors 42a, 42b, 42c, 42d, 42e, and 42f; a phototransmitter 43; and electrical connections structure45. Such a one-piece converter would be more robust than a printed circuit board mounted converter and thus would not have problems with optical misalignment resulting from handling during manufacturing or from high g forces such as dropping on the floor. This one-piece package combination can also be advantageously used to perform abrasive flushing and thus remove the individual collimating lenses that are a standard manufacturing device for most discrete photoelectric converter assemblies. Although not shown in Figure 6, the one-piece suit could also be constructed to support the springs supporting the active control handle.

现在参照第7图，可为各侦测器46a、46b、46c、46d、46e及46f进行定位使得各光径14偏落于其边缘之旁。各光径14起因于该主动式控制把手1之运动所产生垂直于其边缘的运动可因此造成亮度上的变化。Referring now to FIG. 7, each detector 46a, 46b, 46c, 46d, 46e, and 46f may be positioned such that each optical path 14 falls off its edge. Movements of the light paths 14 perpendicular to their edges resulting from the movement of the active control handle 1 can thus cause variations in brightness.

参照第8a(平面图)、8b(截面立视图)、8c(切开透视图)、8d(立视图)及8e(剖面图)图，其中显示的是一种根据本发明较佳实施例之六轴摇杆。本身系如第9图所示之主动式控制把手部分1a可结合有反射性刻面2a、2b、2c、2d、2e及2f。较佳的是用以支持主动式控制把手部分1b的主动式控制把手部分1c具有呈低硬度计量(其萧氏(Shore)硬度A＜40)的弹性体。这种软性控制把手部分1a可设置有防滑表面以便在最小抓取力下与操作员的指尖作可靠的结合。起因于结合有明显厚度的低硬度该控制把手的顺应性可降低操作员手指上的接触应力且因此有助于防止减低血液循环。该控制把手部分1b可具有标准的O形-环形状。该控制把手部分1c可在底部部分上设置有孔洞。该外部孔洞可设置有预定量额的净空以远离空间层21。可由孔洞22(使用时可将索环列入考虑)和空间层21的相对直径定义出该主动式控制把手在水平平面内的运动范围。该控制把手部分1c与基座3之间以及该控制把手部分1c与电路板之间的垂直净空可提供预定量额的垂直历程。如是可将该主动式控制把手总成限制于该历程在六个自由度上预定容许范围。可藉由该控制把手部分1a内的弹簧支持用凹槽47Referring to Figures 8a (plan view), 8b (section elevation view), 8c (cut perspective view), 8d (elevation view) and 8e (section view), which show a sixth preferred embodiment according to the present invention axis rocker. The active control handle part 1a, itself as shown in Figure 9, may incorporate reflective facets 2a, 2b, 2c, 2d, 2e and 2f. It is preferable that the active grip portion 1c for supporting the active grip portion 1b has an elastic body with a low hardness scale (its Shore hardness A<40). Such soft grip portion 1a may be provided with a non-slip surface for secure engagement with the operator's fingertips with minimal gripping force. The compliance of the control handle resulting from low stiffness combined with appreciable thickness can reduce contact stress on the operator's fingers and thus help prevent reduced blood circulation. The control handle portion 1b may have a standard O-ring shape. The control handle part 1c may be provided with holes in the bottom part. The outer hole may be provided with a predetermined amount of clearance away from the space layer 21 . The range of movement of the active control handle in the horizontal plane can be defined by the relative diameters of the hole 22 (which may be used taking the grommet into account) and the space layer 21 . The vertical clearance between the control handle portion 1c and the base 3 and between the control handle portion 1c and the circuit board may provide a predetermined amount of vertical travel. In this way, the active control handle assembly can be limited to a predetermined allowable range of the course in six degrees of freedom. The spring support groove 47 in the control handle part 1a can

将该控制把手部分1a固定于弹簧10上。并转而藉由凹槽48将弹簧10固定于该单件式转换器套装组合21上。该单件式转换器套装组合21可结合一能沿着径向向外延伸的电路板13以接合该空间层21及螺钉23。替代地，可使用额外分离片以装设该转换器套装组合并用以接合某些诸如该空间层21及螺钉23之类的装设装置。The control handle part 1 a is fixed to the spring 10 . And in turn, the spring 10 is fixed on the one-piece converter suit assembly 21 by the groove 48 . The one-piece converter assembly 21 can be combined with a circuit board 13 extending radially outwards to engage the space layer 21 and screws 23 . Alternatively, additional separators can be used to mount the converter set and to engage certain mounting means such as the spacer 21 and screws 23 .

现在参照第10a和10b图，显示的是一种根据本发明实施例的传统「摇杆」型主动式控制把手的强化运动范围，其中系依截面方式显示出保护性及压力补偿风箱。转换器25系类似于如第8a、8b、8c、8d和8e图所示的转换器。必需使该转换器作有限范围的运动，特别是假如该转换器系含藏于主动式控制把手24内时。如图所示的配置以便沿着下列三个轴提供具有额外范围的平移运动：依固定方式将叶形弹簧29和30装设于装设区块28上。可使名义上具有与装设区块28相同之高度的连接区块35在未绕Θx轴作运动下沿着Z-轴向上或向下偏转。可将装设区块36连接到复数个梁31，32，33和34上，而这些梁则转而连接到该连接区块35上。可选择各梁31，32，33和34绕Z-轴的惯性动量以便在绕Z-轴的扭力上提供预定程度的坚实度。名义上各梁31，32，33和34在连接区块35及装设区块36两者上的间隔是相同的。因此装设区块36的水平偏转不会造成该主动式控制把手产生绕Θx或Θy轴的扭转作用。必要时可调整各种装设点上各弹性组件名义上相等的间隔以在各种旋转轴及平移轴上达成控制量额的耦合作用。风箱26系类似于习知设计中使用的风箱，除了其上设置有额外的皱折以提供绕Θz轴的顺应性之外。风箱27可对外壳37内起因于风箱26之Z-轴运动所出现之空气容积变化作出补偿。较佳的是使风箱27连接到连接区块35上以致可直接由手驱动该风箱27的运动，因此该风箱27直到可能由足够的空气压力差分造成该风箱27突然出现运动为止都不致落后，该风箱27的运动可转而使风箱26突然出现非刻意的运动，并因此使转换器25突然出现运动且因此造成假性信号。该转换器25的小尺寸有利于控制把手24的使用，其中该控制把手24是足够小的故即使当操作员以姆指及食指发动标准的游戏型摇杆钮或触发器时也允许有可靠的抓握。Referring now to Figures 10a and 10b, there is shown an enhanced range of motion of a conventional "rocker" type active control handle showing protective and pressure compensating bellows in cross-section in accordance with an embodiment of the present invention. Converter 25 is similar to the converters shown in Figures 8a, 8b, 8c, 8d and 8e. A limited range of motion is necessary for the transducer, especially if the transducer is contained within the active control handle 24 . Arranged as shown to provide additional range of translational motion along the following three axes: Leaf springs 29 and 30 are mounted on mounting block 28 in a fixed manner. The connection block 35 , which has nominally the same height as the mounting block 28 , can be deflected upwards or downwards along the Z-axis without movement about the Θx axis. The installation block 36 can be connected to a plurality of beams 31 , 32 , 33 and 34 which in turn are connected to the connection block 35 . The moment of inertia of each beam 31, 32, 33 and 34 about the Z-axis may be selected to provide a predetermined degree of stiffness in torsion about the Z-axis. Nominally the spacing of beams 31 , 32 , 33 and 34 is the same on both connecting block 35 and mounting block 36 . Therefore, the horizontal deflection of the mounting block 36 does not cause a twisting action of the active control handle about the Θx or Θy axis. If necessary, the nominally equal intervals of the elastic components on various installation points can be adjusted to achieve the coupling effect of the control amount on various rotation axes and translation axes. The bellows 26 are similar to those used in known designs, except that additional corrugations are provided thereon to provide compliance about the Θz axis. The bellows 27 compensates for changes in the volume of air within the housing 37 due to Z-axis movement of the bellows 26 . It is preferable to have the bellows 27 attached to the connection block 35 so that the movement of the bellows 27 can be driven directly by hand, so that the bellows 27 do not fall behind until a sudden movement of the bellows 27 may be caused by a sufficient air pressure differential, This movement of the bellows 27 can in turn cause sudden unintentional movements of the bellows 26 and thus sudden movements of the converter 25 and thus false signals. The small size of the switch 25 facilitates the use of the control handle 24, which is small enough to allow reliable operation even when the operator uses the thumb and forefinger to actuate standard game-style rocker buttons or triggers. grip.

参照第11a、11b、11c和11d图，可藉由(非磁性)大头钉55及螺帽54将永久磁铁53支持在(磁性)弹簧式控制把手56与(磁性)磁极片52之间。可将(非磁性)弹簧10的下边端点固定在(非磁性)弹簧平台51(成形可与弹簧10接合的形状)上。可将诸如霍尔效应感知器50a、50b、50c、50d、50e及50f之类的六个磁通感知器固定在印刷电路板13上，并进行定位使得可由弹簧悬吊总成(包括磁性控制把手1、弹簧式控制把手56、大头钉55、螺帽54及磁极片52)沿着任意平移轴或是绕任意旋转轴的位移从结合成组的磁通感知器50a、50b、50c、50d、50e及50f产生独特的输出信号。磁极片52可设置有三个磁极52a(落在磁通感知器50a与50b之间)、52b(落在磁通感知器50e与50f之间)及52c(落在磁通感知器50c与50d之间)。可依相对于Z-轴有角度的方式将落在其归零位置上的各磁极准确地定位在其个别的磁通感知器之间。于立视图中，系将每一个磁极定位在由各磁通感知器内各磁性响应型组件之位置定义出的平面上方。依这种方式，可由每一个磁通感知器之区域磁通量及具最大灵敏之轴的常数积产生独特地代表该弹簧悬吊总成之位置的信号图案。可由具最大灵敏度(单独磁通感知器之信号内相对于个别磁极之位置变化的最大改变)的六个向量在空间中定义出类似于六角舱盖或Stewart平台的形状。可为空间层21及磁极片52塑形以将该弹簧装设型总成的历程限制于水平平面内或绕Z-轴旋转。可依使大头钉55的端点与印刷电路板13接合的方式限制该弹簧装设型总成(沿着Z-轴的)向下运动。可依使磁极片52与弹簧式平台51接合的方式限制该弹簧装设型总成的向上运动。当然可使各磁极片52、空间层21、电路板13及弹簧式平台51的接触表面适当地覆盖有无磨损冲击吸收性材料。其完成方式可例如藉由为磁极片52施行橡胶涂层并结合连接到电路板13顶部的耐隆磨损平板使用平滑的橡树子螺帽当作螺帽54。可将诸如软橡胶套筒之类的舒适控制把手材料涂覆于控制把手1外侧。较佳的是使每一个磁通感知器都是一种诸如由Allegro Microsystems公司制造其型号为3503比值计的线性霍尔效应感知器之类的集成电路，其中包含有放大器以利后续的信号处理。可藉由诸如由Microchip公司制造的模拟对数字转换板或可程序规划的接口芯片之类无数已知方法之一完成其信号处理作业。选择性地，可将一去高斯线圈加到总成上以降低任何不必要的习知磁化作用。Referring to Figures 11a, 11b, 11c and 11d, a permanent magnet 53 may be supported between a (magnetic) spring-loaded control handle 56 and a (magnetic) pole piece 52 by means of a (non-magnetic) tack 55 and a nut 54 . The lower end of the (non-magnetic) spring 10 can be fixed on a (non-magnetic) spring platform 51 (shaped to engage the spring 10 ). Six flux sensors, such as Hall effect sensors 50a, 50b, 50c, 50d, 50e, and 50f, can be mounted on the printed circuit board 13 and positioned so that the assembly can be suspended by springs (including magnetic controls). Displacement of handle 1, spring-loaded control handle 56, tack 55, nut 54 and pole piece 52) along any translational axis or around any rotational axis from the combined set of flux sensors 50a, 50b, 50c, 50d , 50e and 50f produce unique output signals. Pole piece 52 may be provided with three poles 52a (falling between flux sensors 50a and 50b), 52b (falling between flux sensors 50e and 50f), and 52c (falling between flux sensors 50c and 50d). between). Each pole falling in its zero position can be accurately positioned between its respective flux sensor in an angular manner relative to the Z-axis. In elevation, each pole is positioned above a plane defined by the position of each magnetically responsive component within each flux sensor. In this way, a signal pattern uniquely representative of the position of the spring suspension assembly can be generated from the constant product of the area flux of each flux sensor and the axis of greatest sensitivity. A shape similar to a hexagonal hatch or a Stewart platform can be defined in space by the six vectors of maximum sensitivity (maximum change in the signal of an individual flux sensor relative to a change in position of an individual pole). Spacer layer 21 and pole piece 52 may be shaped to constrain the travel of the spring loaded assembly to either a horizontal plane or rotation about the Z-axis. Downward movement (along the Z-axis) of the spring loaded assembly can be limited in such a way that the ends of the tack 55 engage the printed circuit board 13 . The upward movement of the spring-loaded assembly can be limited by engaging the pole piece 52 with the spring-loaded platform 51 . Of course the contact surfaces of each pole piece 52, spacer layer 21, circuit board 13 and spring platform 51 can be suitably covered with non-abrasive shock absorbing material. This can be accomplished, for example, by applying a rubber coating to the pole pieces 52 and using a smooth acorn nut as the nut 54 in conjunction with a Nylon wear plate attached to the top of the circuit board 13 . A comfortable control handle material such as a soft rubber sleeve can be coated on the outside of the control handle 1 . Preferably, each flux sensor is an integrated circuit such as a linear Hall effect sensor manufactured by Allegro Microsystems as a model 3503 ratiometer, which includes amplifiers for subsequent signal processing. . Analog-to-digital conversion boards or programmable interface chips such as those manufactured by Microchip One of countless known methods such as , does its signal processing job. Optionally, a degaussian coil can be added to the assembly to reduce any unwanted conventional magnetization.

参照第12图，系用以显示在没有磁性控制把手下之磁通路径的平面图标。参照第13图，系用以显示在具有磁性控制把手下之磁通路径的平面图标。参照第13a图，系用以显示该磁通路径57的立视图。可透过该控制把手使用回复磁通路径以允许将通量带到离各磁极更远处而造成更好的机械净空以及更大的运动范围及更符合人类环境改造学。Referring to Figure 12, it is a planar diagram showing the magnetic flux path without the magnetic control handle. Referring to Figure 13, it is a flat icon showing the magnetic flux path under the handle with magnetic control. Referring to Fig. 13a, it is used to show the elevation view of the magnetic flux path 57. A return flux path can be used through the control handle to allow the flux to be brought further away from the poles resulting in better mechanical headroom and a greater range of motion and more ergonomic.

参照第14图，显示的是一种具有磁通感知器50a、50b、50c、50d、50e及50f的电路板13。可设置阻尼电路58和59以扮演着类似于旋转式电动机器中阻尼绕组(Amortisseur)的功能。可于阻尼电路58和59内选择性地设置分离式电阻器。Referring to FIG. 14, there is shown a circuit board 13 having flux sensors 50a, 50b, 50c, 50d, 50e and 50f. Damping circuits 58 and 59 can be arranged to perform a function similar to damping windings in rotary electric machines. Separate resistors may optionally be provided in the damping circuits 58 and 59 .

参照第15a到15e图，可将控制把手1连接到弹性体感知组件60上。Referring to Figures 15a to 15e, the control handle 1 can be connected to an elastomeric sensory assembly 60 .

应予注意的是「上边」及「下边」等词只用以说明各附图且明确地无意用以限制有关本发明的任何揭示内容或申请专利范围。此中说明的各种多轴输入装置皆可依相对于重力的任何定向操作。It should be noted that words such as "above" and "below" are only used to describe the drawings and are clearly not intended to limit any disclosure or scope of claims related to the present invention. The various multi-axis input devices described herein can operate in any orientation relative to gravity.

可将弹性体感知组件60的下边端点(可以是呈游离导电性之导电弹性体组件)固定于支柱63上，而该支柱63则系固定于基座部分64上。可使感知组件60的上边端点套用有各电气端子61a、61b和61c。可使弹性体感知组件60的下边端点套用有各电气端子62a、62b和62c。可将各电气端子用于使控制把手1及支柱63与弹性体感知组件60作机械连接。可使用下边印刷电路板67及上边印刷电路板66以利与弹性体感知组件60作电气连接。可藉由固定器68将上边电路板66固定在弹性体感知组件60上，且可藉由固定器69使之固定在控制把手1上。可藉由固定器65将电路板62箝夹在支柱63与弹性体感知组件60之间。固定器65也可扮演着使支柱63连接到基座部分64上的角色。参照第16图，可建造上边电路板66使之有利以复数个固定器69与控制把手1作连接。再次参照第15a到15d图，较佳的是使各电气端子61a和61b和61c以120°角均等地间隔开。同时较佳的是使各电气端子62a、62b和62c以120°角均等地间隔开，并使之与各上边电气端子偏移60°角。依这种方式，结合有各种电气端子的电气导电性弹性体感知组件60可扮演着如第17图所示之可变电阻电路的功能。吾人应该注意的是第17图系用以显示一种三维电路的平面表现法，可将之当作如第15a到15e图所示之弹性体感知组件60沿着与各电气端子61a、61b和61c及62a、62b和62c相交之圆形或六角图案切开的截面图标。再次参照第17图，例如以可变电阻器70a代表各电气端子61a与62a之间可随着弹性体感知组件60的变形而改变的可变电阻。该三维电路可具有Stewart平台之发动机几何的一般形状。重要的是，可将弹性体感知组件60之偏转作用的六个自由度独特地表为各电气端子61a、61b、61c及62a、62b和62c之间的电阻式电气特征。弹性体感知组件60可由数种范围广泛的各式材料制成。本发明的某一实施例中，该弹性体可以是一种将金属盐类溶解于聚合物内的固态溶液，如同授予Chiang等人之美国专利第5,898,057号、第6,063,499号、第6,111,051号或第6,184,331号文件中所说明的或是可购自Mearthane Products公司的产品。在将金属盐类溶解于聚合物内形成固态溶液的例子里，较佳的是使其电气激发信号具有交替的极性。以下称这种弹性体为具有电离导电性的。例如可使用如第45图所示的三相交流电源。替代地，该弹性体感知组件60可以是一种诸如由Zipperling Kessler公司开发的聚苯胺(PAni)之类的「内禀导电性聚合物」或是这类聚合物的混炼物。替代地，可使用具有导电性填充物的聚合物，但是起因于其非调和性且经常呈现出非线性应变阻抗特征故并非较佳选择。The lower end of the elastomer sensing element 60 (which may be a conductive elastomer element with free conductivity) can be fixed on the support 63 , and the support 63 is fixed on the base part 64 . The upper end of the sensing assembly 60 may be fitted with respective electrical terminals 61a, 61b and 61c. The lower end of the elastomeric sensing assembly 60 may be fitted with respective electrical terminals 62a, 62b and 62c. Electrical terminals can be used to mechanically connect the control handle 1 and the strut 63 with the elastomeric sensory assembly 60 . The lower printed circuit board 67 and the upper printed circuit board 66 can be used to facilitate electrical connection with the elastomeric sensing element 60 . The upper circuit board 66 can be fixed on the elastic sensor component 60 by the fixer 68 , and can be fixed on the control handle 1 by the fixer 69 . The circuit board 62 can be clamped between the post 63 and the elastomeric sensing element 60 by the holder 65 . The anchor 65 may also play the role of connecting the strut 63 to the base portion 64 . Referring to FIG. 16 , the upper circuit board 66 can be constructed to facilitate connection with the control handle 1 with a plurality of holders 69 . Referring again to Figures 15a to 15d, it is preferred to have the electrical terminals 61a and 61b and 61c equally spaced at an angle of 120°. It is also preferred that the electrical terminals 62a, 62b and 62c be equally spaced at an angle of 120° and offset by an angle of 60° from the upper electrical terminals. In this way, the electrically conductive elastomer sensing element 60 incorporating various electrical terminals can function as a variable resistance circuit as shown in FIG. 17 . We should note that Figure 17 is intended to show a planar representation of a three-dimensional circuit, which can be viewed as an elastomeric sensing element 60 along with electrical terminals 61a, 61b and 61c and 62a, 62b and 62c intersecting circular or hexagonal pattern cut cross section icon. Referring again to FIG. 17 , for example, a variable resistor 70 a represents a variable resistance between the electrical terminals 61 a and 62 a that can be changed with the deformation of the elastic sensing component 60 . The three-dimensional circuit may have the general shape of the engine geometry of the Stewart platform. Importantly, the six degrees of freedom of the deflection action of the elastomer sensing component 60 can be uniquely represented as resistive electrical features between the respective electrical terminals 61a, 61b, 61c and 62a, 62b, and 62c. Elastomeric sensing component 60 may be made from several widely varied materials. In one embodiment of the invention, the elastomer may be a solid solution of a metal salt dissolved in a polymer, as in U.S. Patent Nos. 5,898,057, 6,063,499, 6,111,051 or 6,111,051 to Chiang et al. 6,184,331 or available from Mearthane Products. In the case of dissolving the metal salts in the polymer to form a solid solution, it is preferred that the electrical excitation signal have alternating polarities. Such elastomers are hereinafter referred to as ionically conductive. For example a three-phase AC power supply as shown in Figure 45 can be used. Alternatively, the elastomeric sensing element 60 may be an "intrinsically conductive polymer" such as polyaniline (PAni) developed by Zipperling Kessler, or a blend of such polymers. Alternatively, polymers with conductive fillers can be used, but are not preferred due to their incompatibility and often exhibit non-linear strain resistance characteristics.

参照第18a、18b、18c和18d图，系用以显示一种根据本发明另一实施例之弹性体感知组件60的各种示意图，其中系将各上边电气端子标示为61a、61b和61c而各下边电气端子标示为62a、62b和62c。本实施例系起因于已降低或排除穿过如第17图所示之等效电阻71a、71b、71c、72a、72b和72c的电流而优于如第15a到15e图所示之实施例。除此之外，可藉由控制弹性体「接脚」70a、70b、70c、70d、70e和70f的形状和角度快速地调整沿着各轴的机械坚实度。Referring to Figures 18a, 18b, 18c and 18d, it is used to show various schematic diagrams of an elastomer sensory component 60 according to another embodiment of the present invention, wherein the upper electrical terminals are marked as 61a, 61b and 61c and The lower electrical terminals are labeled 62a, 62b and 62c. This embodiment is superior to that shown in Figures 15a to 15e in that the current flow through equivalent resistors 71a, 71b, 71c, 72a, 72b and 72c as shown in Figure 17 has been reduced or eliminated. In addition, mechanical stiffness along each axis can be quickly adjusted by controlling the shape and angle of the elastomeric "legs" 70a, 70b, 70c, 70d, 70e, and 70f.

参照第18e图，显示的是一种代表性等效电路，其中可变电阻70a到70f代表的是第18a到18d图中具有相同符号的「接脚」电阻。Referring to Fig. 18e, a representative equivalent circuit is shown in which variable resistors 70a to 70f represent "pin" resistors having the same symbols in Figs. 18a to 18d.

参照第19a、19b、19c和19d图，系用以显示一种根据本发明的又一实施例，其中系以复数个分离式弹性体感知组件75a、75b、75c、75d、75e和75f取代前述附图的单一弹性体感知组件60。可由各电气端子72a到72f及73a到73f将弹性体感知组件固定到上边电路板66及下边电路板67上。可依其它附图所示的方式将上边电路板66及下边电路板67固定到控制把手、支柱或基座部分上。可选择各分离式感知组件的尺寸及形状以使坚实度特征、强度以及沿着每一个轴之环境改造学感觉最佳化。Referring to Figures 19a, 19b, 19c and 19d, it is used to show another embodiment according to the present invention, wherein a plurality of separate elastic sensing components 75a, 75b, 75c, 75d, 75e and 75f are used to replace the aforementioned A single elastomer sensory assembly 60 of the accompanying drawings. The elastomeric sensor assembly may be secured to the upper circuit board 66 and the lower circuit board 67 by respective electrical terminals 72a-72f and 73a-73f. The upper circuit board 66 and the lower circuit board 67 may be secured to the control handle, post or base portion in the manner shown in the other figures. The size and shape of each discrete sensory component can be selected to optimize the firmness characteristics, strength, and ergonomic feel along each axis.

参照第19e图，系用以显示一种对应于如第19a到19d图所示之复数个弹性体感知组件的代表性等效电路。Referring to Figure 19e, it is used to show a representative equivalent circuit corresponding to the plurality of elastomer sensing elements shown in Figures 19a to 19d.

参照第20a和20b图，分别系用以显示根据本发明另一实施例的平面图及截面图，其中系将含有以下简称为「电解质」之导电液体或凝胶的空腔76设置于可形变弹性体结构77之内。以下系将含有电离导电液体的可形变组件称为可形变液体组件。以下系将含有电离导电凝胶的可形变组件称为可形变凝胶组件。可藉由伸长、缩短、稀释、窄化、电极荫化作用使这类可形变组件相对于其电阻产生形变。可设置复数个电气端子81a、81b、81c、82a、82b和82c以连接各适当电路以便沿着各轴量测其电阻。较佳的是使各上边电气端子81a、81b和81c以120°角均等地间隔开，且较佳的是使之与各下边电气端子82a、82b和82c偏移60°角，其中各下边电气端子也是以120°角均等地间隔开。可藉由嵌入物78使该弹性体结构77的外缘沿着径向产生坚实化。可使用外罩80以遮蔽各电气端子81a、81b和81c。可使用支持器79将弹性体结构77固定到支柱63上。Referring to Fig. 20a and Fig. 20b, respectively, it is used to show a plan view and a cross-sectional view according to another embodiment of the present invention, wherein a cavity 76 containing a conductive liquid or gel hereinafter referred to as "electrolyte" is arranged in a deformable elastic within body structure 77. A deformable component containing an ionized conductive liquid is hereinafter referred to as a deformable liquid component. Hereinafter, the deformable assembly containing the ionically conductive gel is referred to as the deformable gel assembly. Such deformable elements can be deformed relative to their electrical resistance by elongation, shortening, thinning, narrowing, and electrode shade. A plurality of electrical terminals 81a, 81b, 81c, 82a, 82b, and 82c may be provided to connect appropriate circuits for measuring their resistance along each axis. Preferably, each upper electrical terminal 81a, 81b, and 81c is equally spaced at an angle of 120°, and is preferably offset by 60° from each lower electrical terminal 82a, 82b, and 82c, wherein each lower electrical terminal The terminals are also equally spaced at 120° angles. The outer edge of the elastomer structure 77 can be stiffened in the radial direction by means of inserts 78 . Housing 80 may be used to shield the respective electrical terminals 81a, 81b and 81c. Elastomeric structure 77 may be secured to strut 63 using holder 79 .

现在参照第21a到21f图，分别系用以显示根据本发明另一实施例的平面图及截面图，其中设置有复数个诸如长形橡胶水管83之类各含电解质的分离式弹性体组件。可由水管夹84牢牢地固定住电极82和81。可由装设平台85和86为各电极82和81定位并用以传送施加其上的各种力量。各装设平台85和86相互间的偏转作用可在各电气端子81和82之间造成独特的电气阻抗图案。任意一弹性体组件83的伸张作用都能在各电极与具窄小截面的电解质之间造成更长的距离且因此造成了更高的电阻。较佳的是可结合标准的调幅侦测电路以具有交替极性之激发信号完成该电阻的量测。Referring now to Figures 21a to 21f, there are shown plan and cross-sectional views, respectively, of another embodiment of the present invention in which a plurality of separate elastomeric components such as elongated rubber water tubes 83 are provided, each containing electrolyte. The electrodes 82 and 81 can be firmly fixed by the water pipe clamp 84 . The respective electrodes 82 and 81 may be positioned by mounting platforms 85 and 86 for transmitting various forces applied thereto. The deflection of mounting platforms 85 and 86 relative to each other creates a unique electrical impedance pattern between electrical terminals 81 and 82 . Stretching of either elastomeric component 83 results in a longer distance and thus higher electrical resistance between each electrode and the narrow cross-section electrolyte. Preferably, the resistance measurement can be accomplished with an excitation signal of alternating polarity in combination with a standard AM detection circuit.

现在参照第22图，系用以显示根据本发明又一实施例沿着六角形路径切开的截面图。制造及组合的各种阶段可标示如下：可在使插针88落在定位下铸造出弹性体结构87。拔除插针88留下空腔89。将电极90塞入该弹性体结构87的底部。然后使空腔89填充有电解质92。然后塞入各上边电极93而将电解质92密封到空腔89内。可由各电气连接结构94完成本实施例中各感知组件部分的组合。Referring now to FIG. 22, there is shown a cross-sectional view along a hexagonal path according to yet another embodiment of the present invention. The various stages of fabrication and assembly can be indicated as follows: The elastomeric structure 87 can be cast with the pins 88 in place. Removal of pin 88 leaves cavity 89 . An electrode 90 is plugged into the bottom of this elastomeric structure 87 . Cavity 89 is then filled with electrolyte 92 . Each upper electrode 93 is then inserted to seal the electrolyte 92 into the cavity 89 . The combination of each sensing component part in this embodiment can be completed by each electrical connection structure 94 .

现在参照第23图，显示的是六个感知组件总成中其结构可提供比如第22图所示之实施例更高之灵敏度的两个感知组件总成。较之该弹性体结构87的高度各上边电极95与下边电极96之间名义上的距离是很小的，这可在该弹性体结构87的给定偏转下造成电极间隔产生较大的相对变化。Referring now to FIG. 23, shown are two of the six sensing element assemblies configured to provide greater sensitivity than the embodiment shown in FIG. 22. The nominal distance between each upper electrode 95 and lower electrode 96 is small compared to the height of the elastomeric structure 87, which results in a relatively large relative change in electrode spacing for a given deflection of the elastomeric structure 87. .

现在参照第24图，所显示的实施例要求只将单一电极总成97塞入该弹性体结构87的每一个空腔内。本实施例可依更简单的方式制造且更不受到于组合期间进入空腔内之小量空气的影响。Referring now to FIG. 24, the illustrated embodiment requires only a single electrode assembly 97 to be inserted into each cavity of the elastomeric structure 87. Referring now to FIG. This embodiment can be manufactured in a simpler manner and is less affected by small amounts of air entering the cavities during assembly.

现在参照第25a、25b和25c图，显示的是本发明的另一实施例，其中可形变弹性体结构100可含有复数个内部坚实组件99，这些内部坚实组件系用以沿着所选择的轴使该弹性体结构100的应变耦合到更容易由诸如由印刷电路板应变计量器或是一个或更多个MEMS力量感知器构成的数组之类小型装置98量测得的应变上。Referring now to Figures 25a, 25b and 25c, another embodiment of the present invention is shown in which the deformable elastomeric structure 100 may contain a plurality of internal solid members 99 for The strain of the elastomeric structure 100 is coupled to a strain that is more easily measured by a small device 98 such as a printed circuit board strain gauge or an array of one or more MEMS force sensors.

现在参照第26图，系用以显示一种根据本发明另一实施例的局部示意图，其中可透过填充有流体的通路102使各坚实组件99耦合于压力感知装置101。Referring now to FIG. 26, there is shown a partial schematic diagram of another embodiment of the present invention wherein each solid member 99 is coupled to a pressure sensing device 101 through a fluid-filled passageway 102.

参照第27图，系用以显示一种根据本发明另一实施例的截面图，其中设置有可形变弹性体结构77以便依枢轴旋转方式将位移量测装置103连接到共同空腔105内的位置104上。坚实性嵌入物78可在可形变弹性体结构77的外缘上提供径向坚实度。较佳的是，可依Stewart平台的几何形状设置六个量测装置103。Referring to FIG. 27, it is used to show a cross-sectional view according to another embodiment of the present invention, wherein a deformable elastic body structure 77 is provided to connect the displacement measuring device 103 to the common cavity 105 in a pivotal manner. on position 104. A firmness insert 78 may provide radial firmness on the outer edge of the deformable elastomeric structure 77 . Preferably, six measuring devices 103 can be arranged according to the geometry of the Stewart platform.

现在参照第28图，系用以显示一种根据本发明另一实施例的局部截面图，其中系将各位移量测装置103套入弹性体结构100的分离空腔106内。Referring now to FIG. 28, there is shown a partial cross-sectional view according to another embodiment of the present invention, wherein the displacement measuring devices 103 are inserted into the separation cavities 106 of the elastomeric structure 100. Referring to FIG.

现在参照第29图，系用以显示一种根据本发明另一实施例的局部截面图，其中系将诸如可变电感或差分转换器之类的位移量测装置安装于一可形变弹性体结构的单独空腔内。如图所示之实施例可进一步为每一个单独转换器103提供单一铸造式球形椅104。第29图的局部截面图显示了较佳数量为六个的转换器103中依Stewart平台之结构定向的两个转换器。可使转换器总成103的球体部分106座落于弹性主体100的铸造式球形椅104内。变压器核心105的特色是使其球体外径可在线圈总成106内滑动。杆柱部分107可使球体部分106与变压器核心105连接在一起。Referring now to FIG. 29, there is shown a partial sectional view according to another embodiment of the present invention in which a displacement measuring device such as a variable inductance or a differential transducer is mounted on a deformable elastomer within a separate cavity of the structure. The embodiment shown can further provide a single cast spherical chair 104 for each individual converter 103 . Figure 29 is a partial cross-sectional view showing two of the preferred number of six converters 103 oriented in the configuration of the Stewart platform. The spherical portion 106 of the converter assembly 103 may be seated within the cast spherical seat 104 of the resilient body 100 . The transformer core 105 features a spherical outer diameter that slides within the coil assembly 106 . The post portion 107 connects the ball portion 106 to the transformer core 105 .

现在参照第30图，弹性体结构100内线圈型弹簧108的电感可随着弹性体结构100出现形变并改变其长度而改变。可量测其电感变动以建立该弹性体结构100之已形变形状的电子表现法。Referring now to FIG. 30, the inductance of the coiled spring 108 within the elastomeric structure 100 can vary as the elastomeric structure 100 deforms and changes its length. Changes in its inductance can be measured to establish an electronic representation of the deformed shape of the elastomeric structure 100 .

参照第31图，弹性体结构100的特色为该线圈或线圈型弹簧108内设置有膨胀型空腔89。可藉由配件109及水管110使各膨胀型空腔89连接到外部压缩流体或气体源上。较佳的是可于弹性体结构100内依Stewart平台结构设置数量为六的膨胀型空腔89。藉由本实施例可建造一种力量反馈或「haptic」型摇杆。由六个如图所示之两种组件构成的组合可称为具有发动机的「机台」。藉由依端点对端点方式装设有多个独立操作型「机台」，可在具有极大弹性及控制性下建造一种机械型蛇形装置。这种多机台装置对例如用于医疗应用的导尿管操纵而言是很有用的。较佳的是可藉由结合有诸如MEMS阀门总成之类的单一压力岐管施行这种多机台装置的控制，且较佳的是可由单一数字数据排流为这种MEMS阀门总成进行寻址及发动。依这种方式，可沿着落在类似于脊椎动物之脊椎骨的结构内延伸式多机台发动机的中心配置一种结合有单一资料排流的单一加压气体管线。Referring to FIG. 31 , the elastomeric structure 100 features an inflatable cavity 89 disposed within the coil or coil-type spring 108 . Each inflatable cavity 89 can be connected to an external source of compressed fluid or gas by means of fittings 109 and water lines 110 . Preferably, six inflatable cavities 89 can be provided in the elastomer structure 100 according to the Stewart platform structure. A force feedback or "haptic" type rocker can be built with this embodiment. A combination of six components of the two types shown in the figure can be called a "machine" with a motor. By installing multiple independently operated "machines" in an end-to-end manner, a mechanical snake device can be built with great flexibility and controllability. Such a multi-device device is useful, for example, for catheterization for medical applications. Control of such a multi-machine device can preferably be performed by a single pressure manifold incorporating such as a MEMS valve assembly, and preferably can be performed by a single digital data stream for such a MEMS valve assembly Address and launch. In this way, a single pressurized gas line combined with a single data flow can be deployed along the center of an extended multi-unit engine within a structure resembling a vertebrate backbone.

现在参照第32a到32d图，显示的是本发明的另一实施例，其中系结合填充有凝胶的腕靠111和数值键盘112以使用填充有电解质的可形变弹性体结构77(相似于在第20a、20b图所示者)。可使该可形变弹性体结构77的对称轴从铅垂方向倾斜出来以允许使用者的手处于舒适而放松的位置。正常情况下可使基座部分64的底部64a平坦地静置于诸如书桌之类的水平表面上。Referring now to Figures 32a to 32d, another embodiment of the present invention is shown in which a gel-filled wrist rest 111 and numeric keypad 112 are combined to use a deformable elastomeric structure 77 filled with electrolyte (similar to the Figures 20a and 20b). The axis of symmetry of the deformable elastomeric structure 77 can be tilted out of the vertical to allow the user's hand to be in a comfortable and relaxed position. The bottom 64a of the base portion 64 would normally rest flat on a horizontal surface such as a desk.

现在参照第33图，显示的是本发明的另一实施例，其中系藉由多轴感知组件115将游戏控制器116的左半边113连接到游戏控制器116的右半边114。藉由本实施例，可保留双手型游戏控制器的所有传统特性而同时添加了例如六个额外的自由度。Referring now to FIG. 33 , another embodiment of the present invention is shown in which the left half 113 of the game controller 116 is connected to the right half 114 of the game controller 116 by a multi-axis sensing component 115 . With this embodiment, all the traditional properties of a two-handed game controller are preserved while adding, for example, six additional degrees of freedom.

现在参照第34图，显示的是一种根据本发明另一实施例的腕戴式装置，其中系藉由手带117和腕带118使基座部分119牢牢地固定于使用者的手120上。可透过感知器部分121使主动式控制把手1连接到该基座部分119上。Referring now to FIG. 34, there is shown a wrist-worn device according to another embodiment of the present invention, wherein the base portion 119 is securely fixed to the user's hand 120 by means of a hand strap 117 and a wrist strap 118. superior. The active control handle 1 can be connected to the base part 119 through the sensor part 121 .

现在参照第35a到35g及36a和36b图，显示的是一种根据本发明另一实施例之装置模型的照片，其中可藉由一只手快速地控制十二个自由度。可藉由一感知装置121(未标示)使指尖操作式控制把手122连接到手持式控制把手123上。较佳的是该指尖操作式控制把手122的直径大概为1到11/2英时以有利于使本发明中所揭示的感知装置达成新奇位准的轻巧度。可将用于量测手持式控制把手之输入的额外感知装置定位在手持式控制把手123上或是将之定位在连接用联结器124之上或之内，或者藉由例如视讯量测装置之类外部装置达成。Referring now to Figures 35a to 35g and Figures 36a and 36b, there are shown photographs of a model of a device according to another embodiment of the present invention in which twelve degrees of freedom can be rapidly controlled by one hand. The fingertip-operated control handle 122 can be connected to the hand-held control handle 123 via a sensing device 121 (not shown). Preferably, the fingertip-operated control knob 122 is approximately 1 to 1 1/2 inches in diameter to facilitate novelty-level lightness of the sensing device disclosed in the present invention. Additional sensory devices for measuring the input of the hand-held control handle can be positioned on the hand-held control handle 123 or on or in the connection coupler 124, or by means of, for example, video measurement devices. Class external device is achieved.

现在参照第37a、37b、38a、38b、38c和38d图，显示的是一种根据本发明另一实施例之装置模型的照片，其中可使用手持式固定控制把手125以稳定使用者的手同时可藉由使用者的姆指、食指及中指操纵主动式控制把手122的多个自由度例如六个自由度。Referring now to Figures 37a, 37b, 38a, 38b, 38c and 38d, there are shown photographs of a device model according to another embodiment of the present invention in which a handheld fixed control handle 125 can be used to stabilize the user's hand while Multiple degrees of freedom, such as six degrees of freedom, of the active control handle 122 can be manipulated by the user's thumb, index finger, and middle finger.

现在参照第39图，显示的是根据本发明某一实施例中多种替代电路实例之一。Referring now to FIG. 39, shown is one of several alternative circuit examples in accordance with an embodiment of the present invention.

参照第40a图，系用以显示一种根据本发明实施例之弹性体感知组件的透视图。Referring to FIG. 40a, it is a perspective view showing an elastic sensing component according to an embodiment of the present invention.

现在参照第40b图，系用以显示如第40a图所示之感知组件的截面图。Referring now to Figure 40b, there is shown a cross-sectional view of the sensing element as shown in Figure 40a.

现在参照第41图，系用以显示一种根据本发明实施例结合有复数个导电型弹性体抗张构件之装置的正视图。Referring now to FIG. 41, there is shown a front view of a device incorporating a plurality of conductive elastomeric tensile members according to an embodiment of the present invention.

现在参照第42图，系用以显示根据本发明某一实施例中数种代表性电路之一。Referring now to FIG. 42, there is shown one of several representative circuits in accordance with an embodiment of the present invention.

现在参照第43图，系用以显示根据本发明另一类实施例中数种代表性电路之一。Referring now to FIG. 43, there is shown one of several representative circuits in accordance with another class of embodiments of the present invention.

现在参照第44图，系用以显示一种根据本发明某一实施例之可变形弹性体感知组件内具有Stewart平台几乎形状而填充有电解质之空腔的实例示意图。Reference is now made to FIG. 44, which is a schematic diagram illustrating an example of an electrolyte-filled cavity having a Stewart platform approximate shape in a deformable elastomer sensing element according to an embodiment of the present invention.

现在参照第45图，系用以显示一种对应于如第44图所示实施例之装置的电路图。Referring now to FIG. 45, there is shown a circuit diagram of a device corresponding to the embodiment shown in FIG.

现在参照第46图，系用以显示一种根据本发明第15a至15e图所示实施例之装置的截面图。Referring now to Figure 46, there is shown a cross-sectional view of an apparatus according to the embodiment of the present invention shown in Figures 15a to 15e.

现在参照第47图，显示的是一种电气信号的施行实例，其中系将表为A，B和C的电压加到如第15a到15e图所示实施例中表为61a，61b和61c的一组端子上。例如可藉由量测可在如第15a到15e图示所示实施例中表为62a，62b和62c的一组端子上得到的电压D、E和F施行的电压及相位角而获致六个自由度上的位置信息。Referring now to Figure 47, there is shown an implementation example of an electrical signal in which the voltages indicated as A, B and C are applied to the voltages indicated as 61a, 61b and 61c in the embodiment shown in Figures 15a to 15e. on one set of terminals. Six can be obtained, for example, by measuring the voltages and phase angles applied by the voltages D, E and F available at a set of terminals denoted 62a, 62b and 62c in the embodiment shown in Figures 15a to 15e. positional information on degrees of freedom.

现在参照第48图，显示的是一种可结合如第46图所示之实施例使用之印刷电路板配置。Referring now to FIG. 48, a printed circuit board arrangement that may be used in conjunction with the embodiment shown in FIG. 46 is shown.

现在参照第49a、49b、49c和49d图，所显示摇杆的特色为其上装设有凝胶衬垫腕靠111的基座64允许使用者舒适地箝制基座64使之于操纵摇杆期间稳稳地抵住诸如书桌之类的支撑表面。使支柱63连接到基座64上并进行塑造以防止下边控制把手部分1b出现过量的旋转或水平运动。据此成形该下边控制把手部分1b以允许它绕支柱63进行必要但是不过量的运动。该下边控制把手部分1b的运动会在向下方向上受到基座64的限制且在向上方向上受到支柱63的限制。膜片2可沿着数个方向回旋以便在六个自由度上提供弹性并为光学组件提供保护使之不受灰尘及昆虫的影响。弹簧10可为控制把手部分1a和1b提供恢复力并藉由孔洞10a和10b为上边控制把手1a提供相对于光电发射器4和光电侦测器5的定位。也可藉由弹簧10为下边控制把手1b提供相对于支柱63的定位。如图所示弹簧10具有三向对称。弹簧10可具有任何数目的诸如二向对称之类结构或者可建造成具有单一回旋组件。上边控制把手1a的特色是具有吸收区1c及反射区1d的内部表面。可使发射器4直接瞄准在吸收区1c与反射区1d之间的边界上。可使各光电侦测器5具有宽广的视野并使每一个光电侦测器5都能回应来自数个光电发射器的反射光。假如一次为一个光电发射器加能，则可依电气方式使所有光电侦测器例如各光电二极管作并联连接且使之连接于诸如Microchip公司制造之

Figure GSB00000038557800421
装置之类混合式集成电路的单一模拟输入通路上。可将这种装置连同其它用以直接起动各光电发射器4或是用以从各光电侦测器5导出信号所需要的电子组件直接装设于电路板13上。本实例中如第49a，49b，49c和49d图所示之上边控制把手1a的直径为53毫米。Referring now to Figures 49a, 49b, 49c, and 49d, the rocker is shown featuring a base 64 with a gel-cushioned wrist rest 111 thereon allowing the user to comfortably clamp the base 64 during manipulation of the rocker. Stand firmly against a supporting surface such as a desk. The strut 63 is attached to the base 64 and is shaped to prevent excessive rotational or horizontal movement of the lower grip portion 1b. The lower control handle portion 1b is shaped accordingly to allow necessary but not excessive movement about the strut 63 . The movement of the lower control handle portion 1b is restricted in the downward direction by the base 64 and in the upward direction by the strut 63 . The diaphragm 2 can be rotated in several directions to provide flexibility in six degrees of freedom and to provide protection of the optical components from dust and insects. The spring 10 can provide restoring force for the control handle parts 1a and 1b and provide positioning of the upper control handle 1a relative to the phototransmitter 4 and the photodetector 5 through the holes 10a and 10b. The positioning of the lower control handle 1 b relative to the pillar 63 can also be provided by means of the spring 10 . As shown the spring 10 has three-way symmetry. The spring 10 can have any number of configurations such as bidirectional symmetry or can be constructed with a single convolutional assembly. The upper control handle 1a features an inner surface having an absorptive area 1c and a reflective area 1d. The emitter 4 can be aimed directly at the boundary between the absorbing zone 1c and the reflecting zone 1d. Each photodetector 5 can be made to have a wide field of view and each photodetector 5 can respond to reflected light from several photoemitters. If one photoemitter is energized at a time, all photodetectors, such as photodiodes, can be electrically connected in parallel and connected to a circuit such as that manufactured by Microchip Corporation.
Figure GSB00000038557800421
on a single analog input path of a hybrid integrated circuit such as a device. This arrangement can be mounted directly on the circuit board 13 together with other electronic components required for directly activating the phototransmitters 4 or for deriving signals from the photodetectors 5 . The diameter of the upper side control handle 1a shown in Figures 49a, 49b, 49c and 49d in this example is 53 mm.

现在参照第50a和50b图，显示的是一种根据本发明某一实施例结合有单件式光电转换器的装置44。可将支柱63连接到基座64上并成形以防止下边控制把手部分1b出现过量的旋转或水平运动。据此成形该下边控制把手部分1b以允许它绕支柱63进行必要但是不过量的运动。该下边控制把手部分1b的运动会在向下方向上受到基座64的限制且在向上方向上受到支柱63的限制。膜片2可沿着数个方向回旋以便在六个自由度上提供弹性并为光学组件提供保护使之不受灰尘及昆虫的影响。弹簧10可为控制把手部分1a和1b提供恢复力并藉由孔洞10a和10b为上边控制把手提供相对于光电发射器4和光电侦测器5的定位。也可藉由弹簧10为下边控制把手1b提供相对于支柱63的定位。如图所示弹簧10具有三向对称。弹簧10可具有任可数目的诸如二向对称之类结构或者可建造成具有单一回旋组件。上边控制把手1a的特色是具有吸收区1c及反射区1d的内部表面。可使发射器44c直接瞄准在吸收区1c与反射区1d之间的边界上。可使各光电侦测器44b具有宽广的视野并使每一个光电侦测器都能回应来自数个光电发射器的反射光。第50a，50b和50c图系依比例绘制使得上边控制把手1a的直径为大概40毫米，因此变得较佳的是可由使用者的姆指尖、食指尖及中指尖操作并保留使用者的其它手指可抓取诸如可连接到基座64上的鼠标或摇杆之类的其它装置。Referring now to Figures 50a and 50b, there is shown a device 44 incorporating a monolithic optoelectronic converter in accordance with an embodiment of the present invention. The strut 63 may be attached to the base 64 and shaped to prevent excessive rotational or horizontal movement of the lower grip portion 1b. The lower control handle portion 1b is shaped accordingly to allow necessary but not excessive movement about the strut 63 . The movement of the lower control handle portion 1b is restricted in the downward direction by the base 64 and in the upward direction by the strut 63 . The diaphragm 2 can be rotated in several directions to provide flexibility in six degrees of freedom and to provide protection of the optical components from dust and insects. The spring 10 can provide restoring force for the control handle parts 1a and 1b and provide positioning of the upper control handle relative to the phototransmitter 4 and the photodetector 5 through the holes 10a and 10b. The positioning of the lower control handle 1 b relative to the pillar 63 can also be provided by means of the spring 10 . As shown the spring 10 has three-way symmetry. The spring 10 may have any number of configurations such as bidirectional symmetry or may be constructed with a single convolutional assembly. The upper control handle 1a features an inner surface having an absorptive area 1c and a reflective area 1d. The emitter 44c can be aimed directly at the boundary between the absorbing zone 1c and the reflecting zone 1d. Each photodetector 44b can be made to have a wide field of view and each photodetector can respond to reflected light from several photoemitters. Figures 50a, 50b and 50c are drawn to scale such that the diameter of the upper control handle 1a is approximately 40 mm, so that it becomes preferably operable by the user's thumb, index and middle fingertips and retains the user's other fingers. The fingers can grasp other devices such as a mouse or joystick which can be attached to the base 64 .

现在参照第50c图，显示的是第50a和50b图中的单件式光学转换器44。单件式光学转换器44包括一可以是印刷电路板的基板44e，六个分离式光电发射器44c以及六个分离式光电侦测器44b，每一个都可封装于诸如环氧树脂之类的透明媒介物内。可藉由以不透明媒介物围绕该透明媒介物以防止光在各光电发射器与光电侦测器之间直接传输。可在例如以不透明媒介物44i进行过铸造之前将反射性涂层44j涂覆到透明媒介物44h的外部表面上。各连接插针44a可藉由例如USB之类的接口以便为该装置提供电力并从装置上送出数据。可将混合信号式微控制器44d以及其它必要组件装设于基板44e上并以树脂系统44h及/或44i进行封装。依这种方式可制造出一种低成本的强固转换器套装组合。Referring now to Figure 50c, there is shown the one-piece optical switch 44 of Figures 50a and 50b. The one-piece optical switch 44 includes a substrate 44e, which may be a printed circuit board, six discrete photoemitters 44c, and six discrete photodetectors 44b, each of which may be encapsulated in a substrate such as epoxy. in a transparent medium. Direct transmission of light between each photoemitter and photodetector can be prevented by surrounding the transparent medium with an opaque medium. Reflective coating 44j may be applied to the exterior surface of transparent medium 44h prior to overcasting, for example, with opaque medium 44i. Each connection pin 44a can provide power to the device and send data from the device through an interface such as USB. A mixed-signal microcontroller 44d and other necessary components may be mounted on a substrate 44e and packaged with resin systems 44h and/or 44i. In this way a low cost robust converter package can be produced.

现在参照第51a、51b、51c、51d、51e、51f和51g图，显示的是一种根据本发明的实施例，其中系将一六轴摇杆连接到三轴鼠标64a上。可成形该鼠标以允许使用者的手腕呈实质垂直因此允许鼠标基座作更大范围的z轴旋转。如图所示的形状也有利于由使用者之无名指及小指稳固地抓住使鼠标部分抵住使用者的手掌。使用者的手掌与弯曲手指之间的隆起可进一步强化牢固的紧握。直径大概40毫米的摇杆允许使用者以姆指、食指及中指操纵。鼠标底部表面的特色为具有两组偏移式传统光学鼠标转换器。虽则两个位置上的一组转换器只需要量测x轴的运动，然而每一组转换器皆可量测出x和y轴的运动。为了命名的目的，使各组转换器落在沿着平行于y轴方向的线段上。可从鼠标上可在两个x轴转换器造成差分输出的z轴扭转作用导出第三鼠标轴。如图所示的装置提供了九个自由度。也可围绕该六轴摇杆基座周缘设置有按钮。可在该装置顶部加上一小型的十键式衬垫。Referring now to Figures 51a, 51b, 51c, 51d, 51e, 51f and 51g, there is shown an embodiment in accordance with the present invention in which a six-axis joystick is connected to a three-axis mouse 64a. The mouse can be shaped to allow the user's wrist to be substantially vertical thereby allowing a greater range of z-axis rotation of the mouse base. The shape as shown also facilitates a firm grasp of the mouse portion against the user's palm by the user's ring and little fingers. A ridge between the user's palm and flexed fingers further enhances a secure grip. The rocker with a diameter of about 40 mm allows the user to manipulate it with the thumb, index finger and middle finger. The bottom surface of the mouse features two sets of offset traditional optical mouse switches. Although a set of transducers in two positions only needs to measure movement in the x-axis, each set of transducers can measure movement in both the x- and y-axes. For nomenclature purposes, each set of transducers falls on a line segment along a direction parallel to the y-axis. A third mouse axis can be derived from the z-axis twisting action on the mouse which results in a differential output between the two x-axis converters. The setup as shown provides nine degrees of freedom. Buttons may also be provided around the periphery of the six-axis rocker base. A small ten-key pad can be added to the top of the unit.

现在参照第52图，显示的是另一种根据本发明的实施例，其中系由摇杆1控制用以控制一件建筑设备131此例中为装填机与可卸除工具133此例中为装填篮之间空间关系的六角舱盖转接器126。可依类似方式控制诸如堆高机、多爪锚、起重吊杆、锯刀、槌打机、钻孔机、锥钻机、割草机之类各种其它工具。可使用像视讯相机之类的机器构想式感知器130以便依机器方式定出连锁装置127相对于摇杆1的姿势。也可使用机器构想式感知器130以感知该六角舱盖转接器126的姿势。也可藉由诸如视讯相机或是扫瞄式激光束之类机器构想式装置解读该六角舱盖转接器126的姿势。例如可使用这种激光束以扫瞄六个抗压构件上的反射性标签。可使用反射信号的时序以定出该六角舱盖转接器126的姿势。也可使用各种其它机器构想式策略。替代且连接地，可从诸如连接于六角舱盖式抗压构件上的MEMS(微型机电系统)装置126c以及连接于128和132上之MEMS装置126b和126d之类分离式感知器归纳出其姿势信息。进一步可将MEMS装置(可以是例如加速计或角速率感知器)127a和129a连接到一机器连锁装置的各种部位上。可依磁性方式连接这种装置且较佳的是依无线方式传送信息。Referring now to Figure 52, there is shown another embodiment according to the present invention in which the rocker 1 is controlled to control a piece of construction equipment 131, in this case a loader, and a removable tool 133, in this case a Hex hatch adapter 126 for spatial relationship between filling baskets. Various other implements such as stackers, multi-jaw anchors, lifting booms, saws, hammers, drills, cone drills, lawn mowers, etc. may be controlled in a similar manner. A machine-conceived sensor 130 like a video camera can be used to mechanically determine the pose of the interlock 127 relative to the joystick 1 . A machine vision sensor 130 may also be used to sense the posture of the hex hatch adapter 126 . The pose of the hex hatch adapter 126 can also be interpreted by machine conception devices such as video cameras or scanning laser beams. Such a laser beam can be used, for example, to scan reflective labels on six compression members. The timing of the reflected signals can be used to determine the pose of the hex hatch adapter 126 . Various other machine conception strategies can also be used. Alternatively and conjunctively, its pose can be inferred from separate sensors such as MEMS (Micro Electro Mechanical Systems) device 126c attached to the hexagonal hatch type compression member and MEMS devices 126b and 126d attached to 128 and 132 information. Further MEMS devices (which may be, for example, accelerometers or angular rate sensors) 127a and 129a may be connected to various locations in a machine interlock. Such devices may be connected magnetically and preferably transmit information wirelessly.

附件A显示的是一种以MEMS加速计资料为基础定出一机械组件之位置、角速度及角加速度的一般趋近法。可使用一般趋近法以定出诸如机器手臂、六角舱盖及其组合之类多连式连锁装置的位置、角速度及角加速度。Appendix A shows a general approach method for determining the position, angular velocity, and angular acceleration of a mechanical component based on MEMS accelerometer data. The general approach method can be used to determine the position, angular velocity and angular acceleration of multi-connected interlocking devices such as robotic arms, hex hatches and combinations thereof.

现在参照第53图，显示的是一种可结合如第52图所示之实施例一起使用的局部性一般控制用配置。可由使用者以摇杆1控制从属平台132。可由计算机139使用机器构想式感知器130及/或分离式感知器127a，127b，126c和126d之类连续地调整各坐标以符合使用者的参考坐标系统。也可使用习知的绝对角度及位置编码器。可依水力方式使用可透过运动控制器134从水力发电机136接收到电力的水力阀式岐管137以控制六角舱盖式抗压构件126。也可由水力发电机136将电力供应到收发报机135上。收发报机135可接收来自收发报机138的运动指令数据。这种策略可适用范围广泛的各式机器设备。这种设备不需要作永久性安装且可适用于租用的建筑设备。一般而言，该姿势订定系统只需要依充分合理的方式使该六角舱盖的例如参考坐标系统对齐操作员的参考坐标系统便可。可依与控制系统无关的方式直接以操作员的视觉或听觉作绝对位置的反馈。选择性地，可使用(触觉)摇杆以提供触觉反馈。Referring now to Figure 53, there is shown a localized general control arrangement which may be used in conjunction with the embodiment shown in Figure 52 . The slave platform 132 can be controlled by the user with the joystick 1 . Coordinates may be continuously adjusted by computer 139 using machine conception sensor 130 and/or discrete sensors 127a, 127b, 126c, and 126d to conform to the user's reference coordinate system. Also known absolute angle and position encoders can be used. The hexagonal canopy compression member 126 may be hydraulically controlled using a hydraulic valve manifold 137 which may receive power from a hydraulic generator 136 via a motion controller 134 . Electricity may also be supplied to the transceiver 135 by a hydroelectric generator 136 . The transceiver 135 can receive motion command data from the transceiver 138 . This strategy can be applied to a wide variety of machines and equipment. Such equipment does not require permanent installation and may be suitable for leased construction equipment. Generally speaking, the posture determination system only needs to align, for example, the reference coordinate system of the hexagon hatch cover with the operator's reference coordinate system in a sufficiently reasonable manner. The absolute position can be directly feedbacked by the operator's vision or hearing in a way independent of the control system. Optionally, a (haptic) rocker can be used to provide tactile feedback.

本发明实施例一种摇杆，包括：一辐射源；一反射器；以及反射辐射感知器，其中至少一个组件是沿着至少三个自由度相对于所述三个组件中至少另一个组件呈可动的；其中该辐射源会投射出最终入射到该反射器上的辐射，该反射器则以至少三个自由度变化的方式将一变化的反射光学信号反射到该反射辐射感知器上，且该反射辐射感知器可感知到至少一部分的所述变化的反射光学信号。A rocker according to an embodiment of the present invention includes: a radiation source; a reflector; and a reflected radiation sensor, wherein at least one component is positioned relative to at least another component of the three components along at least three degrees of freedom. movable; wherein the radiation source projects radiation ultimately incident on the reflector which reflects a varying reflected optical signal onto the reflected radiation sensor in a manner varying in at least three degrees of freedom, And the reflected radiation sensor can sense at least a part of the changed reflected optical signal.

进一步地，其中该辐射源包括一可见光源。Further, the radiation source includes a visible light source.

进一步地，其中侦测该回传的光学信号当作入射到由各影像感知组件构成之数组上的影像。Further, the returned optical signal is detected as an image incident on the array formed by each image sensing component.

进一步地，其中该反射辐射感知器包括一光电侦测器且该辐射源包括一具时间顺序的光发射器。Further, the reflective radiation sensor includes a photodetector and the radiation source includes a time-sequential light emitter.

如同从前述说明很容易了解的是可依各种方式施行本发明的基本概念。这同时涉及了多轴输入的技术及装置以完成适当的方法。本发明中，揭示了多轴输入技术当作将要藉由各种已说明装置达成的部分结果并当作应用固有的步骤。这不过就是依意图及说明使用各装置的自然结果。除此之外在揭示某些装置时，吾人应该了解的是不仅完成了某些方法而且可依不同的方式达成。重要的是，如同先前的所有说明可理解的是这类事实都属于本发明的揭示内容。As is readily apparent from the foregoing description, the basic concept of the invention can be implemented in various ways. This also involves multi-axis input techniques and devices to accomplish the appropriate method. In the present invention, the multi-axis input technique is disclosed as a partial result to be achieved by the various described means and as a procedure inherent in the application. This is simply a natural consequence of using each device as intended and as specified. In addition to this, when certain devices are disclosed, one should understand that not only certain methods are accomplished but can be achieved in different ways. It is important that, as with all previous descriptions, it is understood that such facts are part of the disclosure of the present invention.

本发明中所包含的讨论试图扮演着基本说明的角色。读者应该清楚的是不需要以特定说明明确地所有可能的实施例且可依隐含方式说明多种替代实施例。尚未完全解释的是本发明的真实特性或许并未明确地显示如何将各器件或组件确实地表为更广泛的功能或是更多样的替代或等效组件。再次，这类组件系隐含地包含于本发明的揭示内容中。在依装置导向专有名词说明本发明的同时，每一个组件都隐含地执行某一种功能。不仅已说明装置包含了申请专利范围中的各种装置，而且包含了申请专利范围中的各种方法及程序以强调本发明中每一个组件执行的功能。无意以本发明的说明或各专有名词限制完整专利申请文件中所包含之本发明申请专利范围的架构。The discussion contained in this disclosure is intended to play the role of a basic description. It should be clear to the reader that it is not necessary to specifically describe all possible embodiments and that various alternative embodiments may be implicitly described. What has not been fully explained is that the true nature of the invention may not expressly show how each device or component is actually represented as a wider function or as a wider variety of alternative or equivalent components. Again, such components are implicitly included in the disclosure of the present invention. While describing the invention in terms of device-oriented terminology, each component implicitly performs a certain function. Not only the described device includes various devices in the patent claims, but also various methods and programs in the patent claims to emphasize the function performed by each component in the present invention. It is not intended to limit the structure of the patent scope of the present invention contained in the complete patent application documents with the description of the present invention or each proper term.

吾人也应该了解的是可在不偏离本发明所附申请专利范围之精神及架构下作各种改变。这类改变也是隐含地包含于本发明的说明中。这类改变仍然落在本发明的架构内。广义的揭示内容同时包含两种明确显示的实施例亦即各种明确的替代实施例，本发明的揭示内容包含了各种广义的方法或程序且取决于用以支撑完整专利申请文件的申请专利范围。吾人应该了解的是本发明系以暂时性归档文件为基础完成这类语言转换及广义的申请专利范围。本专利申请案系用以寻求对视为申请人权利之申请专利范围的广义基础的检验且其设计系用以独立地产生一种涵盖本发明中数种概念当作整体系统的专利文件。We should also understand that various changes can be made without departing from the spirit and structure of the appended patent scope of the present invention. Such changes are also implicitly included in the description of the present invention. Such changes still fall within the framework of the present invention. The broad disclosure includes both explicitly shown embodiments, that is, various explicit alternative embodiments, and the disclosure of the present invention includes various methods or procedures in a broad sense and depends on the patent application used to support the complete patent application file. scope. It should be understood that the present invention completes this type of language conversion and the scope of the patent application in a broad sense based on temporary archived documents. This patent application seeks to examine the broad basis of what is regarded as the applicant's claim and is designed to produce independently a patent document covering several concepts of the invention as a system as a whole.

此外，可依各种方式达成本发明申请专利范围各式组件中的每一种组件。吾人应该了解的是本发明的揭示内容可涵盖每一个这类变型，只要是任何装置实施例的变型、方法或程序实施例或甚至只是这类组件的变型。特别是，吾人应该了解的是有关本发明组件的揭示内容，即使只是其功能或结果是相同的也可由每一种组件一词代表等效装置或方法。应该考虑的是在每一种组件或作用的说明中涵盖这种等效而更广义或甚至更真实的名词。可在必要时取代这类名词以明确地指出可涵盖本发明的隐含广义名词。然而如同某一实例，吾人应该了解的是将所有动作表为用以施行该动作的装置或是用以造成该作用的组件。同样地，吾人应该了解的是本发明所揭示的每一种实体组件都涵盖了有利施行该实体组件之作用的揭示内容。关于最后一种概念但是如同某一实例一般，相反地吾人应该了解的是「侦测装置」或「侦测器」之揭示内容所涵盖的侦测动作(无论是否明确地讨论到)是指「侦测动作」的有效揭示内容，吾人应该了解的是这种揭示内容涵盖了「侦测器」甚至于「侦测装置」的揭示内容。可理解的是在本发明的说明中明确地包含这种变换及替代性名词。Furthermore, each of the various components of the claimed invention can be achieved in a variety of ways. It should be understood that the disclosure of the present invention can cover every such variation, as long as it is a variation of any apparatus embodiment, method or program embodiment or even a variation of only such components. In particular, it should be understood that in the disclosure about the components of the present invention, even if the function or result is the same, each component can represent an equivalent device or method. It should be considered to cover such equivalent and broader or even truer terms in the description of each component or action. Such terms may be substituted where necessary to clearly indicate the implied broad terms that encompass the invention. However, as in a certain instance, one should understand that all actions are represented as means for performing the action or as components for causing the effect. Likewise, it should be understood that each physical component disclosed in the present invention covers the disclosed content that facilitates the function of the physical component. With regard to the last concept but as in a certain instance, instead one should understand that the detection action covered by the disclosure of "detection device" or "detector" (whether explicitly discussed or not) refers to " What we should understand is that this kind of disclosure covers the disclosure content of "detector" and even "detection device". It is understood that such transformations and alternative terms are expressly included in the description of the present invention.

此中结合了本发明中所提及的专利文件、出版品及参考文献当作本专利申请案的参考文献。除此之外，吾人应该了解的是此中使用的每一个名词，除非本发明中依与这种解读不一致的方式使用该名词，可将传统及常用字典的定义理解为结合有此中列为参考文献之兰登屋(Random House)公司印行之韦伯无删减字典(第二版)中所含的所有定义、替代名词及同义字。最后，附上列举于将要结合于专利申请案、其它信息声明或是随专利申请案送出之参考文献清单中的所有参考文献；不过关于上述每一个名词，可在这类结合于参考文献中的信息或声明的范围下认定为与本发明不一致时清楚地认定这类声明不是本发明提出的声明。The patent documents, publications and references mentioned in this application are hereby incorporated as references for this patent application. Beyond that, one should understand that every term used herein, unless the term is used in this invention in a manner inconsistent with such an interpretation, the traditional and commonly used dictionary definitions can be read in combination with the terms listed here as References All definitions, alternatives, and synonyms contained in Weber's Unextracted Dictionary, Second Edition, published by Random House Company. Finally, attach all references listed in the patent application, statement of other information, or list of references sent with the patent application; To the extent information or claims are deemed inconsistent with the invention, such statements are clearly deemed not to be claims of the invention.

因此，本发明的申请人应该理解至少提出下列申请：i)如同此中揭示并说明的每一个输入装置；ii)所揭示并说明的相关方法；iii)每一个这类装置及方法的类似、等效且甚至是明确的变型；iv)那些依所揭示并说明之方式完成所显示之每一个功能的替代设计；v)那些依隐含了用以完成所揭示并说明的方式完成所显示之每一个功能的各替代设计及方法；vi)依分开而独立发明的方式显示的每一种特性、组件及步骤；vii)因所揭示的各种系统或组件而强化的申请案；viii)由这类系统或组件制成的最终产品；ix)实质上可依如同以上说明并参照任意附设实例的方式施行的各方法及装置；x)由所揭示的每一个组件构成的各种组合及排列；xi)取决于所提出之每一个及每个独立申请专利范围或概念的每一个潜在的独立申请专利范围或概念；xii)依如同遍及上述讨论所说明的方式在计算机辅助下或在计算机上执行的程序；xiii)依如同遍及上述讨论所说明的方式施行的可程序规划装置；xiv)含有编码数据以管理包括可依如同遍及上述讨论所说明之方式运作之装置或组件之计算机的计算机可读内存；xv)依此中揭示并说明的方式建造的计算机；xvi)依如同此中揭示并说明的方式施行的单独或组合式子程序及程序；xvii)所揭示并说明的相关方法；xviii)每一个这类系统及方法的类似、等效且甚至是明确的变型；xix)那些依所揭示并说明之方式完成所显示之每一个功能的替代设计；xx)那些依隐含了用以完成所揭示并说明的方式完成所显示之每一个功能的各替代设计及方法；xxi)依分开而独立发明的方式显示的每一种特性、组件及步骤；xxii)由上述每一项构成的各种组合及排列。Therefore, the applicant of the present invention should be understood to make at least the following applications: i) each input device as disclosed and described herein; ii) the related methods disclosed and described; iii) each similar, equivalent and even explicit variations; iv) those alternative designs that perform each of the functions shown in the manner disclosed and described; v) those that perform the shown functions in the manner disclosed and described Alternative designs and methods for each function; vi) each feature, component and step shown as a separate and independent invention; vii) applications enhanced by the various systems or components disclosed; viii) by Final products made of such systems or components; ix) methods and devices that may be performed substantially as described above with reference to any of the accompanying examples; x) various combinations and permutations of each disclosed component ; xi) each potential separate claim area or concept depending on each and every separate claim area or concept presented; xii) with the aid of a computer or on a computer in the manner as explained throughout the above discussion programs executed; xiii) a programmable device that performs as described throughout the above discussion; xiv) a computer program that contains coded data to manage a computer that includes devices or components operable as described throughout the above discussion read memory; xv) computers constructed as disclosed and described herein; xvi) subroutines and programs, singly or in combination, executed as disclosed and described herein; xvii) related methods disclosed and described herein; xviii ) similar, equivalent, and even express variations of each such system and method; xix) those alternative designs that perform each function shown in the manner disclosed and described; Alternative designs and methods of performing each of the functions shown in the disclosed and described manner; xxi) each of the features, components and steps shown in a separate and independent invention; xxii) each of the foregoing Various combinations and permutations.

吾人也应该了解的是为了实用的理由且为了避免添加潜在的上百个申请专利项目，申请人最终提出只含初始附属项目的申请专利范围。吾人应该了解的是在新的相关法令下存在有必要程度的支持项目(包含但是不受限于欧洲专利协议条款123(2)及美国专利法35 USC 132或其它这类法令)以容许添加在一个独立申请专利项目或概念下提出的各种附属项目或是其它元素中的任意一种附属项目当作在任何其它独立申请专利项目或概念下的附属项目或元素。此外，假如或者当使用时过渡用词「comprising」系且将根据对传统申请专利项目的解读以维持此中说明的「开放端」申请专利项目。因此，除非文中除此之外的要求，吾人应该了解的是试图以「comprise」一字或是诸如「comprises」或「comprising」之类的变型暗示包含了已陈述元素或步骤或是由各元素或步骤构成的集合但是不排除任何其它元素或步骤或是由各元素或步骤构成的集合。应该以最广义形式解读这类名词以便为申请人提供法律容许的最广泛的保护范围。One should also understand that for practical reasons and in order to avoid adding potentially hundreds of claimed items, the applicant ends up filing a claim containing only initial subsidiary items. It should be understood that there is a necessary level of backing under new relevant statutes (including but not limited to Article 123(2) of the European Patent Agreement and 35 USC 132 or other such statutes) to allow the addition of Any one of the various sub-items or other elements proposed under an independent patent-pending item or concept is deemed to be an ancillary item or element under any other independent-pending patent item or concept. In addition, if or when the transition term "comprising" is used, it is and will be interpreted according to the traditional patent application to maintain the "open-ended" patent application described herein. Therefore, unless the text otherwise requires, one should understand that an attempt to use the word "comprise" or variations such as "comprises" or "comprising" implies that the stated elements or steps are included or are composed of elements. or a set of steps without excluding any other element or step or set of individual elements or steps. These terms should be read in their broadest sense to provide applicants with the broadest scope of protection permitted by law.

可结合于任何时间提出的任何申请专利范围当作本发明的部分说明，本发明的申请人明确地表达了保留权利可使用全部或部分结合有这类内容的申请专利范围当作额外说明，以支持任何或所有申请专利范围或是其中的任何组件或组件；且本发明的申请人进一步明确地表达了保留权利可在必要时从各申请专利范围的说明中移除全部或部分结合有这类内容的申请专利范围反之亦然，以定义出本专利申请案或是其上的任何后续延展、分割或部分延展寻求保护的事项，或是用以取得任何降低依循费用的利益，或是用以顺从专利法、法规、任何国家或条约的规定，并使这类结合内容在本专利申请案的待审期间保留包含本专利申请案的任何后续延展、分割或部分延展或是其上的任何再授权或延伸。Any claims incorporated at any time may be incorporated as part of the present invention, and the applicant hereby expressly reserves the right to use claims incorporating such claims in whole or in part as additional illustrations, to in support of any or all claimed claims or any components or components therein; and the applicants of the present invention further expressly expressly reserve the right to remove from the description of each claimed claim in whole or in part incorporating such Invention of the subject matter and vice versa, to define the matter for which protection is sought by this patent application or any subsequent extension, division or partial extension thereon, or to obtain any benefit of reduced compliance costs, or to Subject to patent laws, statutes, provisions of any country or treaty, and to keep such combination during the pendency of this patent application, including any subsequent extension, division or partial extension of this patent application or any repetition thereon authorized or extended.

参考文献清单Reference list

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II.外国专利文件II. Foreign patent documents

III.其它文件(包含作者、标题、日期及相关页数等)III. Other documents (including author, title, date and related pages, etc.)

  “3503：Ratiometric Linear hall-Effect Sensors”.http://www.allegromicro.com/sf/3503/index.htm，printed February 8，2002，2 pages "3503: Ratiometric Linear hall-Effect Sensors". http://www.allegromicro.com/sf/3503/index.htm, printed February 8, 2002, 2 pages   “3503：RatioMetric，Linear，Hall-Effect Sensors”，Allegro Microsystems，Inc.，1999，12 pages "3503: RatioMetric, Linear, Hall-Effect Sensors", Allegro Microsystems, Inc., 1999, 12 pages   “3D Controller Shootout”，http://www.joy-stick.net/articles/3dshootout.htm，printed February22，2002，2 pages "3D Controller Shootout", http://www.joy-stick.net/articles/3dshootout.htm, printed February22, 2002, 2 pages   “6-axis joystick”，http://www.multimania.com/tigereye/unreal/6axisjoystick.jpg，printedFebruary 22，2002，1 page "6-axis joystick", http://www.multimania.com/tigereye/unreal/6axisjoystick.jpg, printed February 22, 2002, 1 page “Accurate Economical Optical Distance and Systems for Industry and Re”，http://www.aculux.com，printed March 1，2002，1 page"Accurate Economical Optical Distance and Systems for Industry and Re", http://www.aculux.com, printed March 1, 2002, 1 page   “Birdman’s Lair”，http://www.planethardware.com/spaceorb/main.html，printed February 22，2002，3 pages "Birdman's Lair", http://www.planethardware.com/spaceorb/main.html, printed February 22, 2002, 3 pages “Conventions Used in Presenting Technical Data”，Vishay Telefunken，pages 1-45"Conventions Used in Presenting Technical Data", Vishay Telefunken, pages 1-45   “Curriculum Vitae”，http://engine.chungbuk.ac.kr/～kwjeong/pube.html，printed February 22，2002，5 pages "Curriculum Vitae", http://engine.chungbuk.ac.kr/~kwjeong/pube.html, printed February 22, 2002, 5 pages   “David Petchkins Custom Space Orb”，http://www.planethardware.com/spaceorb/petchkins.html，printed February 22，2002，7 pages "David Petchkins Custom Space Orb", http://www.planethardware.com/spaceorb/petchkins.html, printed February 22, 2002, 7 pages “Design for Automated Construction：，Howe，A.Scott，University of Michigan DoctoralProgram in Architecture"Design for Automated Construction:, Howe, A. Scott, University of Michigan Doctoral Program in Architecture

Figure GSB00000038557800531
Figure GSB00000038557800531

Figure GSB00000038557800541
Figure GSB00000038557800541

Associated Press，“Thousands Die Needlessly from Hospital Infections，NewspaperReports”，http://archive.a[.org/cgi-bin/display.cgi？id＝3db80ea31a331Mpqaweb1P11018&doc＝printd…”，printed 10/24/02，2 pagesAssociated Press, "Thousands Die Needlessly from Hospital Infections, Newspaper Reports," http://archive.a[.org/cgi-bin/display.cgi? id=3db80ea31a331Mpqaweb1P11018&doc=printd...", printed 10/24/02, 2 pages   Autolev Sample Problem：Stewart Platform(Hexapod)，“Stewart Platform Analysis”，9/20/2002，www.autolev.com，4 pp. Autolev Sample Problem: Stewart Platform (Hexapod), "Stewart Platform Analysis", 9/20/2002, www.autolev.com, 4 pp. Bachrach，B.，“Diagonalizing Controller for a Superconducting six-axisAccelerator”，Proceedings of the 28th Conference on Decision and Control Dec 1990，pages 2785-2793Bachrach, B., "Diagonalizing Controller for a Superconducting six-axis Accelerator", Proceedings of the 28th Conference on Decision and Control Dec 1990, pages 2785-2793 Bernstein，Jonathan，“An Overview of MEMS Inertial Sensing Technology”，SensorsFebruary 2003，pages 14-21Bernstein, Jonathan, "An Overview of MEMS Inertial Sensing Technology", SensorsFebruary 2003, pages 14-21   Bobcat，“Attachments for Loaders/Excavators”，8pp. Bobcat, "Attachments for Loaders/Excavators", 8pp.   Bobcat，“Auger Attachments”，4pp. Bobcat, "Auger Attachments," 4pp.   Bobcat，“Brushcat Rotary Cutter Attachment”，2pp. Bobcat, "Brushcat Rotary Cutter Attachment", 2pp.   Bobcat，“SoilConditioner Attachment”，2pp. Bobcat, "Soil Conditioner Attachment," 2pp.   Bobcat，“Tiller Attachment”，2pp. Bobcat, "Tiller Attachment", 2pp.   Bobcat，“Trencher Attachments”，2pp. Bobcat, "Trencher Attachments," 2pp.   Bobcat，“V518-V623 VersaHandler，Telescopic Tool Carrier”，6pp. Bobcat, "V518-V623 VersaHandler, Telescopic Tool Carrier", 6pp.   Bobcat，“Worksaver catalog”，2002，40pp. Bobcat, "Worksaver catalog", 2002, 40pp.   Bobcat，Melroe & Ingersol l-Rand，“Industrial Grapple Attachments”，2pp. Bobcat, Melroe & Ingersol l-Rand, "Industrial Grapple Attachments," 2pp.   Bookmarks on Parallel Manipulators，“Web Sites Related to Parallel Robots”，9/20/2002，wwwrobot.gmc.ulaval.ca，3pp. Bookmarks on Parallel Manipulators, "Web Sites Related to Parallel Robots", 9/20/2002, wwwrobot.gmc.ulaval.ca, 3pp. Boyce，JM，“MRSA Patients：Proven Methods to Treat Colonization and Infection”，Journal of Hospital Infections，2001Aug；48 Suppl A：S9-14Boyce, JM, "MRSA Patients: Proven Methods to Treat Colonization and Infection", Journal of Hospital Infections, 2001 Aug; 48 Suppl A: S9-14 Bruynunckx，Herman，et al.，“Comments on‘Closed Form Forward Kinematics Solutionto a Class of Hexapod Robots’”，Copyright 1999，3pp.Bruynunckx, Herman, et al., "Comments on 'Closed Form Forward Kinematics Solution to a Class of Hexapod Robots'", Copyright 1999, 3pp.   Bush Hog Front End Loaders M346，M446，M546，M626O perator’s Manual 50030231 Bush Hog Front End Loaders M346, M446, M546, M626O perator’s Manual 50030231   Bush Hog Mounting Instructions for 24H49871 Grapple Attachment，February 19981 page Bush Hog Mounting Instructions for 24H49871 Grapple Attachment, February 19981 page   Case，“Skid Steer Loaders”，5/20/2002，www.casece.com，2pp. Case, "Skid Steer Loaders," 5/20/2002, www.casece.com, 2pp. Center for Disease Control and Prevention，“An Ounce of Prevention：Being Sick CostsYou A Lot？”，http://www.cdc.gov/ncidod/op/，printed 11/01/02，p.1Center for Disease Control and Prevention, "An Ounce of Prevention: Being Sick Costs You A Lot?", http://www.cdc.gov/ncidod/op/, printed 11/01/02, p.1 Center for Disease Control and Prevention，“An Ounce of Prevention：Wash Your HandsOften”，http://www.cdc.gov/ncidod/op/handwashing.htm，printed 11/01/02，2 pagesCenter for Disease Control and Prevention, “An Ounce of Prevention: Wash Your HandsOften,” http://www.cdc.gov/ncidod/op/handwashing.htm, printed 11/01/02, 2 pages Center for Disease Control and Prevention，“An Ounce of Prevention：Routinely Cleanand Disinfect Surfaces”，http://www.cdc.gov/ncidod/op/cleaning.htm，printed11/01/02，2 pagesCenter for Disease Control and Prevention, "An Ounce of Prevention: Routinely Clean and Disinfect Surfaces," http://www.cdc.gov/ncidod/op/cleaning.htm, printed 11/01/02, 2 pages Center for Disease Control and Prevention，“Child Health (Summary of HealthStatistics for U.S.Children.1997)”.http://www.cdc.gov/nchs/fastats/children.htm，printed 09/06/02，2pagesCenter for Disease Control and Prevention, "Child Health (Summary of Health Statistics for U.S. Children. 1997)". http://www.cdc.gov/nchs/fastats/children.htm, printed 09/06/02, 2 pages Center for Disease Control and Prevention，“Common Cold”，http://www.cdc.gov/nchs/fastats/colds.htm，printed 08/20/02，2pagesCenter for Disease Control and Prevention, “Common Cold,” http://www.cdc.gov/nchs/fastats/colds.htm, printed 08/20/02, 2 pages Center for Disease Control and Prevention，“Following Protective Practices to ReduceDisease and Injury”，1997，http://www.cdc.gov/ncidod/hip/abc/practic6.htm，printed 10/2002，2 pagesCenter for Disease Control and Prevention, "Following Protective Practices to Reduce Disease and Injury", 1997, http://www.cdc.gov/ncidod/hip/abc/practic6.htm, printed 10/2002, 2 pages Center for Disease Control and Prevention，“Guideline for Handwashing and HospitalEnvironmental Control，1985”，MMWR，June 24，1988，Vol.37/No.24，Updated：Section4：Infective Waste & Section 6：Laundry，pp.1-7Center for Disease Control and Prevention, "Guideline for Handwashing and Hospital Environmental Control, 1985", MMWR, June 24, 1988, Vol.37/No.24, Updated: Section4: Infective Waste & Section 6: Laundry, pp.1-7 Center for Disease Control and Prevention，“Influenza”，http://www.cdc.gov/nchs/fastats/flu.htm，printed 09/06/02，1 pageCenter for Disease Control and Prevention, “Influenza,” http://www.cdc.gov/nchs/fastats/flu.htm, printed 09/06/02, 1 page Center for Disease Control and Prevention，“What you should know about…Earache(Otitis Media)in the Child Care Setting”，1997，Center for Disease Control and Prevention, "What you should know about…Earache (Otitis Media) in the Child Care Setting", 1997,   http://www.cdc.gov/ncidod/hip/abc/facts12.htm，printed 09/06/02，2 pages http://www.cdc.gov/ncidod/hip/abc/facts12.htm, printed 09/06/02, 2 pages Center for Disease Control and Prevention，“Why is HandwashingImportant？”，2000，http://www.cdc.gov/od/oc/media/pressrel/r2k0306c.htm，printed 10/17/02，3 pagesCenter for Disease Control and Prevention, "Why is Handwashing Important?", 2000, http://www.cdc.gov/od/oc/media/pressrel/r2k0306c.htm, printed 10/17/02, 3 pages Chambers，H.，“The Changing Epidemiology of Staphylococcus Aureus？”，EmergingInfectious Diseases，Vol.7，No.2，March-April 2001，pp.178-182Chambers, H., "The Changing Epidemiology of Staphylococcus Aureus?", Emerging Infectious Diseases, Vol.7, No.2, March-April 2001, pp.178-182   Description of Sourcefiles，“EMC Source Code Documentation”，9/20/2002，www.linuxcnc.org，17pp. Description of Sourcefiles, "EMC Source Code Documentation", 9/20/2002, www.linuxcnc.org, 17pp. Enumerative Real Algebraic Geometry：The Stewart-Gough platform；http://www.maths.univ-renns1.fr/～raag01/surveys/ERAG/S3/3.html，9/28/2002 3 pagesEnumerative Real Algebraic Geometry: The Stewart-Gough platform; http://www.maths.univ-renns1.fr/~raag01/surveys/ERAG/S3/3.html, 9/28/2002 3 pages   Erickson，B，“Mayo Graduate School”，http://www.mayo.edu/faculty/erickson，htm，printedMarch 1，2002，1 page Erickson, B, "Mayo Graduate School", http://www.mayo.edu/faculty/erickson, htm, printed March 1, 2002, 1 page   Feather，A.，et al.，“‘Now Please Wash Your Hands’：the Handwashing Behavior ofFinal MBBS Candidates”，2000，The Hospital Infection Society，4 pages Feather, A., et al., "'Now Please Wash Your Hands': the Handwashing Behavior of Final MBBS Candidates", 2000, The Hospital Infection Society, 4 pages Girard，R.，et al.，“Better Compliance and Better Tolerance in Relation to aWell-Conducted Introduction to Rub-In Hand Disinfection”，2001，The HospitalInfection Society，12 pagesGirard, R., et al., "Better Compliance and Better Tolerance in Relation to a Well-Conducted Introduction to Rub-In Hand Disinfection", 2001, The Hospital Infection Society, 12 pages Gloess，R.，“Hexapod Parallel Kinematics with Sub-Micrometer Accuracy”，Actuator2000，pages 293-295Gloess, R., "Hexapod Parallel Kinematics with Sub-Micrometer Accuracy", Actuator2000, pages 293-295 Gopal Rao，G.，“Marketing Hand Hygiene in Hospitals--A Case Study”，2001，TheHospital Infection Society，8 pagesGopal Rao, G., "Marketing Hand Hygiene in Hospitals--A Case Study", 2001, The Hospital Infection Society, 8 pages Haney，D.，“Hospitals Abandon Soap and Water for Faster Alcohol Rinses”，http://www.arizonarepublic.com/news/articles/0929cleanhands29.html，printed11/01/02 2 pagesHaney, D., "Hospitals Abandon Soap and Water for Faster Alcohol Rinses," http://www.arizonarepublic.com/news/articles/0929cleanhands29.html, printed 11/01/02 2 pages Harris，AD，“A Survey on Handwashing Practices and Opinions of Healthcare Workers”，2000，PubMed：10973750，2 pagesHarris, AD, "A Survey on Handwashing Practices and Opinions of Healthcare Workers", 2000, PubMed: 10973750, 2 pages   Harris，M.，“The Space Orb Controller”，http://alpha2.bmc.uu.se/markh/notes/joy/spaceorb.html，printed February 22，2002，2 pages Harris, M., "The Space Orb Controller", http://alpha2.bmc.uu.se/markh/notes/joy/spaceorb.html, printed February 22, 2002, 2 pages Herruzo-Cabrera，R.，et al.“A New Alcohol Solution(N-duopropenide)for Hygienic(or Routine)Hand Disinfection is More Useful Than Classic Handwashing：In Vitro andIn Vivo Studies in Burn and Other Intensive Care Units”，Burns 2001 Nov；27(7)：747-52，pageHerruzo-Cabrera, R., et al. "A New Alcohol Solution(N-duopropenide) for Hygienic(or Routine) Hand Disinfection is More Useful Than Classic Handwashing: In Vitro andIn Vivo Studies in Burn and Other Intensive Care Units", Burns 2001 Nov;27(7):747-52, page Hirchmann，H.，et al.，“The Influence of Hand Hygiene Prior to Insertion ofPeripheral Venous Catheters on the Frequency of Complications”，2001，The HospitalInfection Society，8 pagesHirchmann, H., et al., "The Influence of Hand Hygiene Prior to Insertion of Peripheral Venous Catheters on the Frequency of Complications", 2001, The Hospital Infection Society, 8 pages   http://static.howstuffworks.com/gif/skid-steer-coupler.jpg 5/20/2002 http://static.howstuffworks.com/gif/skid-steer-coupler.jpg 5/20/2002   Hydraulic Hammer，http://static.howstuffworks.com/gif/skid-steer-hydraulic-hammer.gif，5/20/2002 Hydraulic Hammer, http://static.howstuffworks.com/gif/skid-steer-hydraulic-hammer.gif, 5/20/2002   Industrial Grapple Bucket，http://static.howstuffworks.com/gif/skid-steer-industrial-grapple-bucket.gif，5/20/2002 Industrial Grapple Bucket, http://static.howstuffworks.com/gif/skid-steer-industrial-grapple-bucket.gif, 5/20/2002   Ingersoll Rand，“VR-530 Telescopic Material Handler”，2001，4pp. Ingersoll Rand, "VR-530 Telescopic Material Handler", 2001, 4pp.   Ingersoll Rand，“VR-623 Telescopic Tool Carrier”，2001，4pp. Ingersoll Rand, "VR-623 Telescopic Tool Carrier", 2001, 4pp.   Ingersoll-Rand，“VR-10044/VR-1056 Telescopic Material Handler”，2001，4pp. Ingersoll-Rand, "VR-10044/VR-1056 Telescopic Material Handler", 2001, 4pp.   Ingersoll-Rand，“VR-843 Telescopic Material Handlers”，1999，8pp. Ingersoll-Rand, "VR-843 Telescopic Material Handlers", 1999, 8pp. Innovation & Technology Transfer，Innovation Programme News，January 1997，A Boostfor European Heavy Industry，http://www.cordis.lu/itt/itt-en-97-1/ip-news.htm，05/21/2002，5 pagesInnovation & Technology Transfer, Innovation Program News, January 1997, A Boost for European Heavy Industry, http://www.cordis.lu/itt/itt-en-97-1/ip-news.htm, 05/21/2002, 5 pages Jackson，A.，“The Further Step Touch Control For Your Vibroplex EK-1”，Say you sawit in CQ，January 1986，pages 13-19Jackson, A., "The Further Step Touch Control For Your Vibroplex EK-1", Say you sawit in CQ, January 1986, pages 13-19 Ji，Ping，et al.，“A Closed-Form Forward Kinematics Solution for the 6-6p StewartPlatform”，IEEE Transactions On Robotics and Automation，Vol.17，No.4，August 2001，pp 522-526.Ji, Ping, et al., "A Closed-Form Forward Kinematics Solution for the 6-6p Stewart Platform", IEEE Transactions On Robotics and Automation, Vol.17, No.4, August 2001, pp 522-526.   John Deere，“548G-111，648G-111，748G-111 Grapple Skidders”，2001-2006，18pp. John Deere, "548G-111, 648G-111, 748G-111 Grapple Skidders", 2001-2006, 18pp.   John Deere，“644 H-Log Loader”，2000-2004，6pp. John Deere, "644 H-Log Loader", 2000-2004, 6pp.   John Deere，“853 G-Feller-Bunchers”，2000-2010，8pp. John Deere, "853 G-Feller-Bunchers," 2000-2010, 8pp. Journal of Research of the National Institute of Standards and Technology，“NewsBriefs”，Vol.102，No.4，July-Aug.1997，pp 499-522.Journal of Research of the National Institute of Standards and Technology, "News Briefs", Vol.102, No.4, July-Aug.1997, pp 499-522. JRSJ，“Special issue-The Theory of Telerobotics”，9/20/2002，www.sanbi.co.jp/rsj/Conts/Vol_11/Vol11_6e.html，3pp.JRSJ, “Special issue—The Theory of Telerobotics,” 9/20/2002, www.sanbi.co.jp/rsj/Conts/Vol_11/Vol11_6e.html, 3pp. Kennedy，Kevin & Associates，“Your Experts in Machining and Machine Tools and T…”，9/20/2002，www.kkai.com，20pp.Kennedy, Kevin & Associates, "Your Experts in Machining and Machine Tools and T…", 9/20/2002, www.kkai.com, 20pp. Kost，et al.，“Effects of Axial Stretching on the Resistively of Carbon Black FilledSilicone Rubber”，Polymer Engineering and Science，1983，pages 567-571Kost, et al., "Effects of Axial Stretching on the Resistively of Carbon Black Filled Silicone Rubber", Polymer Engineering and Science, 1983, pages 567-571   Landscape Tiller，http://static.howstuffworks.com/gif/skid-steer-landscape-tiller.gif，5/20/2002 Landscape Tiller, http://static.howstuffworks.com/gif/skid-steer-landscape-tiller.gif, 5/20/2002 Larson，Elaine L.，et al.，“APIC Guideline for Hand Washing and Hand Antisepsisin Health-Care Settings”，1995，http://www.apic.org/pdf/gdhandws.pdf，printed11/01/02，18pagesLarson, Elaine L., et al., "APIC Guideline for Hand Washing and Hand Antisepsis in Health-Care Settings", 1995, http://www.apic.org/pdf/gdhandws.pdf, printed 11/01/02, 18 pages   Marino，C.，et al.“Washington State Hospital Survey 2000：Gloves，HandwashingAgents，and Moisturizers”，Am.Journal Infection Control 2001 Dec；29(6)：422-4 Marino, C., et al. "Washington State Hospital Survey 2000: Gloves, HandwashingAgents, and Moisturizers", Am. 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Figure GSB00000038557800601
附件A(1)1-D加速計在點A及B，兩者與半徑平行及離開中心。x-軸
Figure GSB00000038557800602
定在A點。
Figure GSB00000038557800601
Appendix A(1) 1-D accelerometers at points A and B, both parallel to the radius and off center. x-axis
Figure GSB00000038557800602
Set at point A.

每一個點上的加速度爲：The acceleration at each point is:

aa &RightArrow;&Right Arrow; AA == (( gg xx ++ &theta;&theta; &CenterDot;&Center Dot; &CenterDot;&Center Dot; &CenterDot;&Center Dot; rr AA ,, gg ythe y ++ VV AA 22 rr AA )) aa &RightArrow;&Right Arrow; BB == (( gg xx ++ &theta;&theta; &CenterDot;&Center Dot; &CenterDot;&Center Dot; &CenterDot;&CenterDot; rr BB ,, gg ythe y ++ VV BB 22 rr BB ))

其中

Figure GSB00000038557800605
和都是切线速度。in
Figure GSB00000038557800605
and are all tangential speeds.

| g | = g x 2 + g y 2 , 故可定义出： gx = g 2 - g y 2 | g | = g x 2 + g the y 2 , So it can be defined: gx = g 2 - g the y 2

因此： &theta; = arctan ( g y g x ) = arctan ( g y g 2 - g y 2 ) therefore: &theta; = arctan ( g the y g x ) = arctan ( g the y g 2 - g the y 2 )

由于 V A = &gamma; A &CenterDot; &theta; &CenterDot; 且 V B = &gamma; B &CenterDot; &theta; &CenterDot; , 故可改写成：because V A = &gamma; A &CenterDot; &theta; &CenterDot; and V B = &gamma; B &CenterDot; &theta; &CenterDot; , So it can be rewritten as:

aa AA ,, ythe y == (( gg ythe y ++ (( rr AA &CenterDot;&CenterDot; &theta;&theta; &CenterDot;&CenterDot; )) 22 rr AA )) == gg ythe y ++ rr AA &CenterDot;&Center Dot; &theta;&theta; &CenterDot;&Center Dot; 22

aa BB ,, ythe y == (( gg ythe y ++ (( rr BB &CenterDot;&Center Dot; &theta;&theta; &CenterDot;&Center Dot; )) 22 rr BB )) == gg ythe y ++ rr BB &CenterDot;&Center Dot; &theta;&theta; &CenterDot;&Center Dot; 22

&DoubleRightArrow;&DoubleRightArrow; (( gg ythe y ++ rr 11 &CenterDot;&CenterDot; &theta;&theta; &CenterDot;&Center Dot; 22 )) -- rr AA rr BB (( gg ythe y ++ rr 22 &CenterDot;&CenterDot; &theta;&theta; &CenterDot;&CenterDot; 22 )) == (( 11 -- rr 11 rr 22 )) gg ythe y

因此：

Figure GSB00000038557800611
therefore:
Figure GSB00000038557800611

&theta;&theta; &CenterDot;&Center Dot; == aa AA ,, ythe y -- gg ythe y rr AA == aa BB ,, ythe y -- gg ythe y rr BB

&theta;&theta; &CenterDot;&CenterDot; &CenterDot;&Center Dot; == aa AA ,, xx -- gg xx rr AA == aa AA ,, xx -- gg 22 -- [[ aa AA ,, ythe y -- rr AA rr BB aa BB ,, ythe y 11 -- rr AA rr BB ]] 22 rr AA

替代地： Instead:

Claims (18)

1.一种多轴输入转换器装置，包括：一具有至少五个输入端的组件，可相对于至少五个参考坐标系统进行输入；一反射组件，用以响应来自能放射出均等地入射到反射组件上的辐射源；以及至少一个反射辐射侦测器，用以响应来自该反射组件的辐射；1. A multi-axis input converter device comprising: an assembly having at least five inputs capable of inputting with respect to at least five reference coordinate systems; a radiation source on the component; and at least one reflected radiation detector responsive to radiation from the reflective component; 其中，该反射组件是可动的，该可动的反射组件能够将来自所述辐射源的光反射到所述反射辐射侦测器上。Wherein, the reflective component is movable, and the movable reflective component can reflect the light from the radiation source to the reflected radiation detector. 2.根据权利要求1所述的多轴输入转换器装置，其中该具有至少五个输入端的组件包括一具有至少六个输入端的组件可相对于至少六个参考坐标系统进行输入。2. The multi-axis input converter device of claim 1, wherein the assembly having at least five inputs includes an assembly having at least six inputs capable of inputting with respect to at least six reference coordinate systems. 3.根据权利要求1所述的多轴输入转换器装置，其中该辐射源包括一电磁辐射源。3. The multi-axis input transducer device of claim 1, wherein the radiation source comprises an electromagnetic radiation source. 4.根据权利要求1所述的多轴输入转换器装置，其中该至少五个参考坐标系统包括至少三个平移式参考坐标系统。4. The multi-axis input transducer device according to claim 1, wherein the at least five reference coordinate systems comprise at least three translational reference coordinate systems. 5.根据权利要求1所述的多轴输入转换器装置，其中该至少五个参考坐标系统包括至少三个旋转式参考坐标系统。5. The multi-axis input transducer device according to claim 1, wherein the at least five reference coordinate systems comprise at least three rotary reference coordinate systems. 6.根据权利要求1所述的多轴输入转换器装置，其中该至少五个参考坐标系统包括三个平移式参考坐标系统以及两个旋转式参考坐标系统。6. The multi-axis input converter device according to claim 1, wherein the at least five reference coordinate systems include three translation reference coordinate systems and two rotation reference coordinate systems. 7.根据权利要求1所述的多轴输入转换器装置，其中又包括一最终可使来自该辐射源的辐射入射其上的光吸收表面。7. The multi-axis input converter device of claim 1, further comprising a light absorbing surface on which radiation from the radiation source is ultimately incident. 8.根据权利要求7所述的多轴输入转换器装置，其中该光吸收表面会与该反射组件形成至少一个陡峭边界而存在有从反射性到吸收性的剧烈变化。8. The multi-axis input converter device of claim 7, wherein the light absorbing surface forms at least one steep boundary with the reflective element with a sharp change from reflective to absorptive. 9.根据权利要求8所述的多轴输入转换器装置，其中该至少一个陡峭边界包括至少两个陡峭边界。9. The multi-axis input converter arrangement of claim 8, wherein the at least one steep boundary comprises at least two steep boundaries. 10.根据权利要求9所述的多轴输入转换器装置，其中该至少两个陡峭边界包括至少两个基本上相互正交的陡峭边界。10. The multi-axis input converter device of claim 9, wherein the at least two steep boundaries comprise at least two substantially mutually orthogonal steep boundaries. 11.根据权利要求9所述的多轴输入转换器装置，其中该至少两个陡峭边界系呈曲折配置。11. The multi-axis input converter device according to claim 9, wherein the at least two steep boundaries are in a meandering configuration. 12.根据权利要求1所述的多轴输入转换器装置，其中该反射组件系沿着该辐射源的外径向方向建立的。12. The multi-axis input transducer device of claim 1, wherein the reflective element is established along an outer radial direction of the radiation source. 13.根据权利要求1所述的多轴输入转换器装置，其中该具有至少五个输入端的组件包括一摇杆。13. The multi-axis input converter device of claim 1, wherein the assembly of at least five inputs comprises a rocker. 14.根据权利要求1所述的多轴输入转换器装置，其中该反射组件包括一环状反射组件。14. The multi-axis input transducer device according to claim 1, wherein the reflective element comprises a ring-shaped reflective element. 15.一种摇杆，包括：一辐射源；一反射器；以及反射辐射感知器，其中所述反射器是沿着至少三个自由度相对于所述辐射源、以及反射辐射感知器中的至少一个呈可动的；其中该辐射源会投射出最终入射到该反射器上的辐射，该反射器则以至少三个自由度变化的方式将一变化的反射光学信号反射到该反射辐射感知器上，且该反射辐射感知器可感知到至少一部分的所述变化的反射光学信号。15. A rocker comprising: a radiation source; a reflector; and a reflected radiation sensor, wherein the reflector is relative to the radiation source and the reflected radiation sensor along at least three degrees of freedom at least one is movable; wherein the radiation source projects radiation ultimately incident on the reflector which reflects a varying reflected optical signal to the reflected radiation sensor in at least three degrees of freedom and the reflected radiation sensor can sense at least a portion of the changed reflected optical signal. 16.根据权利要求15所述的摇杆，其中该辐射源包括一可见光源。16. The joystick of claim 15, wherein the radiation source comprises a visible light source. 17.根据权利要求15所述的摇杆，其中侦测该反射的光学信号当作入射到由各影像感知组件构成之数组上的影像。17. The joystick of claim 15, wherein the reflected optical signal is detected as an image incident on the array of image sensing elements. 18.根据权利要求15所述的摇杆，其中该反射辐射感知器包括一光电侦测器且该辐射源包括一具时间顺序的光发射器。18. The joystick of claim 15, wherein the reflective radiation sensor comprises a photodetector and the radiation source comprises a time-sequential light emitter.
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